Robotic surgical systems and instrument drive assemblies

ABSTRACT

An instrument drive assembly for use with a surgical instrument includes a housing assembly supporting a drive assembly therein, a coupling tube supported at a distal end of the housing assembly and extending distally therefrom, a coupling assembly, and a retention mechanism. The coupling assembly is supported in the housing assembly and is configured to releasably couple to an instrument drive shaft of the surgical instrument, and the retention mechanism is configured to releasably couple to an instrument sleeve of the surgical instrument.

BACKGROUND

Robotic surgical systems have been used in minimally invasive medicalprocedures. Some robotic surgical systems include a console supporting arobot arm, and at least one end effector such as forceps or a graspingtool that is mounted to the robot arm via a wrist assembly. During amedical procedure, the end effector and the wrist assembly are insertedinto a small incision (via a cannula) or a natural orifice of a patientto position the end effector at a work site within the body of thepatient.

In prior robotic surgical systems, cables extend from the robot console,through the robot arm, and connect to the wrist assembly and/or endeffector. In some instances, the cables are actuated by means of motorsthat are controlled by a processing system including a user interfacefor a surgeon or clinician to be able to control the robotic surgicalsystem including the robot arm, the wrist assembly and/or the endeffector.

Prior to or during use of the robotic system, surgical instruments areselected and connected to an instrument drive assembly of each robotarm. For proper installation to be completed, certain connectingfeatures of the surgical instrument must be matingly engaged tocorresponding connecting features of the instrument drive assembly. Oncethese features are matingly engaged, the instrument drive assembly candrive the actuation of the surgical instrument. Accordingly, there is aneed for instrument drive assemblies that not only provide quick andeasy mechanical and electrical engagement with surgical instruments, butprovide a means to couple to a variety of surgical instruments havingunique end effectors attached thereto.

SUMMARY

The present disclosure relates to an instrument drive assembly includinga housing assembly, a coupling tube, a coupling assembly, and aretention mechanism. The housing assembly supports a drive assemblytherein. The coupling tube is supported at a distal end of the housingassembly and extends distally therefrom. The coupling assembly issupported in the housing assembly and is configured to releasably coupleto an instrument drive shaft of a surgical instrument. The retentionmechanism is configured to releasably couple to an instrument sleeve ofthe surgical instrument.

In an embodiment, the retention mechanism is supported in the housingassembly and includes a button and a latch plate. The button is slidablycoupled to the housing assembly between first and second positions, andincluding a cam arm. The latch plate is rotationally coupled to thehousing assembly and configured to transition between a lockedconfiguration and unlocked configuration, with respect to an instrumentsleeve of the surgical instrument. The latch plate includes an armconfigured to engage the cam arm of the button and a portion of aninstrument sleeve of the surgical instrument. In the first position ofthe button, the arm of the latch plate is configured to engage a portionof an instrument sleeve of the surgical instrument. In the secondposition of the button, the cam arm of the button engages the arm of thelatch plate such that the latch plate is configured to pivot out ofengagement with a portion of an instrument sleeve of the surgicalinstrument.

In a further embodiment, the retention mechanism includes a firstbiasing member interposed between the latch plate and the housingassembly, such that the latch plate is biased into one of the locked orunlocked configurations. In an embodiment, the retention mechanismincludes a second biasing member interposed between the button and thehousing assembly, such that the button is biased into one of the firstor second positions.

In yet another embodiment, the coupling assembly includes a drive linkpivotably coupled to the housing assembly and a drive screw of the driveassembly. In a further embodiment, proximal and distal translation ofthe drive screw, with respect to the housing assembly, pivots the drivelink between a locked position and an unlocked position.

In yet a further embodiment, the drive link defines a receiving regionthereon. The receiving region includes a cavity, a port, and a channel.The cavity is defined within the receiving region and is configured toreceive a proximal portion of an instrument drive shaft of the surgicalinstrument therein. The port extends into the cavity and is configuredto receive a proximal portion of an instrument drive shaft of thesurgical instrument therethrough. The channel extends along the cavityand is configured to receive a portion of an instrument drive shaft ofthe surgical instrument distal of a proximal portion of the instrumentdrive shaft of the surgical instrument therein. The receiving region ofthe drive link is configured to releasably couple a proximal portion ofan instrument drive shaft of the surgical instrument to the drive link.

Further still, in an embodiment, in the unlocked position of the drivelink, the drive screw of the drive assembly is in a distal most positionand the drive linked is angled an amount sufficient such that the portof the receiving region of the drive link is oriented to fully receivethe proximal portion of an instrument drive shaft. In the lockedposition of the drive link, the drive screw of the drive assembly is ina position proximal of the distal most position and the port of thereceiving region defines an angle with respect to the longitudinal axisof the coupling tube.

In yet a further embodiment, in the locked position of the drive link,the cavity of the receiving region is configured to retain therein aproximal portion of an instrument drive shaft of the surgical instrumentand the channel of the receiving region is configured to receive thereina portion of an instrument drive shaft of the surgical instrument distalof a proximal portion of an instrument drive shaft of the surgicalinstrument.

In another embodiment, the drive assembly includes an engagementassembly, whereby the engagement assembly includes a coupling rod, aproximal gear, and a distal gear. The coupling rod includes a proximalportion, a distal portion, and a longitudinal axis defined through aradial center thereof. The proximal gear is disposed at the proximalportion of the coupling rod and is rotationally fixed thereto. Thedistal gear is disposed at the distal portion of the coupling rod and isrotationally fixed thereto.

In a further embodiment, the drive assembly includes a transferassembly, whereby the transfer assembly includes a central gear and astem. The central gear is configured to mesh with the distal gear of theengagement assembly. The stem extends distally from the central gear anddefines a recess therein.

In yet a further embodiment, the drive assembly includes at least twoengagement assemblies, whereby a distal gear of each engagement assemblyenmeshed with the central gear of the transfer assembly.

Further still, in an embodiment, the drive assembly includes a couplerand a drive screw. The coupler defines a threaded aperture, whereby thecoupler is rotationally affixed within the recess of the stem. The drivescrew includes a threaded portion and a coupling feature. The threadedportion is configured to engage the threated aperture of the coupler,and the coupling feature configured to engage the coupling assembly.Rotation of the proximal gear of the engagement assembly drives rotationof the central gear of the transfer assembly and linear translation ofthe drive screw, with respect to the housing assembly.

In a further embodiment, the drive assembly includes a stop cap engagedwith the housing assembly and disposed about the drive screw distal ofthe threaded portion thereof.

BRIEF DESCRIPTION OF THE DRAWINGS

Embodiments of the present disclosure are described herein withreference to the accompanying drawings, wherein:

FIG. 1A is a schematic illustration of a medical work station andoperating console in accordance with the present disclosure;

FIG. 1B is a perspective view of a motor of a control device of themedical work station of FIG. 1A;

FIG. 2 is a perspective view of an instrument drive assembly inaccordance with an embodiment of the present disclosure;

FIG. 3 is rear perspective view of the instrument drive assembly of FIG.2;

FIG. 4 is a perspective, cross-sectional view of the instrument driveassembly of FIG. 2 taken along the section line 4-4 of FIG. 3;

FIG. 5A is a rear perspective view of the instrument drive assembly ofFIG. 2 with various parts removed therefrom;

FIG. 5B is a front perspective view of the instrument drive assembly ofFIG. 5A;

FIG. 6 is a perspective view of an inner drive assembly and a drivemember of the instrument drive assembly of FIG. 2 coupled with aninstrument drive shaft;

FIG. 7 is a perspective view of the area of detail of FIG. 6;

FIG. 8A is a side, cross-sectional view of the instrument drive assemblyof FIG. 2 taken along section line 8-8 of FIG. 3 with a couplingassembly in a distal position;

FIG. 8B is a side, cross-sectional view of the instrument drive assemblyof FIG. 2 taken along section line 8-8 of FIG. 3 with the couplingassembly in a proximal position;

FIG. 9 is a side view of the area of detail of FIG. 8A;

FIG. 10 is a side, cross-sectional view of the instrument drive assemblyof FIG. 2 taken along section line 10-10 of FIG. 2;

FIG. 11 is a perspective view of an instrument drive assembly inaccordance with another embodiment of the present disclosure;

FIG. 12 is a front perspective view of the instrument drive assembly ofFIG. 11;

FIG. 13 is a rear perspective view of the instrument drive assembly ofFIG. 11;

FIG. 14 is a perspective, cross-sectional view of the instrument driveassembly of FIG. 12 taken along the section line 14-14 of FIG. 13;

FIG. 15 is a parts separated view of the instrument drive assembly ofFIG. 11;

FIG. 16 is a front perspective view of the instrument drive assembly ofFIG. 11 with various parts removed;

FIG. 17 is a side, cross-sectional view of the instrument drive assemblyof FIG. 12 taken along the section line 17-17 of FIG. 13;

FIGS. 18A-18C are side views of a retention mechanism of the instrumentdrive assembly of FIG. 11 in various states of actuation duringinsertion of an instrument sleeve therein;

FIGS. 19A-19D are side views of the retention mechanism of FIGS. 18A-Cin various states of actuation during removal of the instrument sleevetherefrom;

FIGS. 20A-20C are side views of a coupling assembly of the instrumentdrive assembly of FIG. 11 in various states of actuation during couplingof an instrument drive shaft therewith;

FIG. 21A is a perspective view of a drive assembly and a drive link ofthe instrument drive assembly of FIG. 11 coupled with the instrumentdrive shaft;

FIG. 21B is a perspective view of the area of detail of FIG. 21A;

FIG. 22 is a rear perspective view of an instrument drive assembly inaccordance with another embodiment of the present disclosure;

FIG. 23 is a perspective, cross-sectional view of the instrument driveassembly of FIG. 22 taken along the section line 23-23 of FIG. 22;

FIG. 24 is a perspective view, with parts separated, of the instrumentdrive assembly of FIG. 22;

FIG. 25 is a front perspective view of the instrument drive assembly ofFIG. 22 with various parts removed;

FIG. 26 is a side, cross-sectional view of the instrument drive assemblyof FIG. 22 taken along the section line 26-26 of FIG. 22;

FIGS. 27A and 27B are top views of a button and a latch plate of aretention mechanism of the instrument drive assembly of FIG. 22 in afirst position and a second position, respectively;

FIGS. 28A-28D are side perspective views and cross-sections of theretention mechanism of the instrument drive assembly of FIG. 22 invarious states of actuation;

FIGS. 29A and 29B are perspective views, and FIG. 29C is a top view, ofthe retention mechanism of FIGS. 28A-28D in various states of actuationduring insertion of an instrument sleeve therein;

FIGS. 30A-30C are side, cross-sectional views of a coupling assembly ofthe instrument drive assembly of FIG. 22 in various states of actuationduring coupling of an instrument drive shaft therewith;

FIG. 31A is a perspective view of a drive assembly and a drive link ofthe instrument drive assembly of FIG. 22 coupled with the instrumentdrive shaft;

FIG. 31B is a perspective view of the area of detail of FIG. 31A;

FIG. 32 is a perspective view of another embodiment of an instrumentdrive assembly coupled with another embodiment of a surgical instrument;

FIG. 33 is an enlarged, cross-sectional view of the surgical instrumentof FIG. 32 as taken along section line 33-33 of FIG. 32; and

FIG. 34 is an end view of FIG. 33.

DETAILED DESCRIPTION

Embodiments of the presently disclosed instrument drive assemblies aredescribed in detail with reference to the drawings, in which likereference numerals designate identical or corresponding elements in eachof the several views. As is used in the art, the term “distal” refers toa position of an instrument, or portion thereof, which is farther fromthe user, and the term “proximal” refers to a position of an instrument,or portion thereof, which is closer to the user. In addition, allspatial references, such as, for example, horizontal, vertical, top,upper, lower, bottom, left and right, are for illustrative purposes onlyand can be varied within the scope of the disclosure. For example, thereferences “upper” and “lower” are relative and used only in the contextto the other, and are not necessarily “superior” and “inferior” or viceversa.

Referring initially to FIGS. 1A and 1B, a medical work station is showngenerally as work station 1 and generally includes a plurality of robotarms 2, 3; a control device 4; and an operating console 5 coupled withcontrol device 4. Operating console 5 includes a display device 6, whichis set up in particular to display three-dimensional images; and manualinput devices 7, 8, by means of which a person (not shown), for examplea surgeon, is able to telemanipulate robot arms 2, 3 in a firstoperating mode, as known in principle to a person skilled in the art.

Each of the robot arms 2, 3 includes a plurality of members, which areconnected through joints, and an instrument control unit 100, to whichmay be attached, for example, to an instrument drive assembly 200 of asurgical instrument 1000, the surgical instrument 1000 supporting an endeffector (not shown) including, for example, a pair of jaw members,electrosurgical forceps, cutting instruments, or any other endoscopic,or open, surgical devices. For a detailed discussion and illustrativeexamples of the construction and operation of an end effector for usewith instrument control unit 100, reference may be made to commonlyowned International patent Application No. PCT/US14/61329, filed on Oct.20, 2014 (International Patent Publication No. WO 2015/088647, andentitled “Wrist and Jaw Assemblies for Robotic Surgical Systems,” nowU.S. Patent Publication No. US 2016/0303743, the entire content of whichis incorporated herein by reference.

Robot arms 2, 3 may be driven by electric drives (not shown) that areconnected to control device 4. Control device 4 (e.g., a computer) isset up to activate the drives, in particular by means of a computerprogram, in such a way that robot arms 2, 3, instrument control units100, and thus the surgical instruments 10 execute a desired movement orarticulation according to a movement defined by means of manual inputdevices 7, 8. Control device 4 may also be set up in such a way that itregulates the movement of robot arms 2, 3 and/or of the drives.

Medical work station 1 is configured for use on a patient 13 lying on apatient table 12 to be treated in an open surgery, or a minimallyinvasive manner, by means of surgical instrument 1000. Medical workstation 1 may also include more than two robot arms 2, 3, the additionalrobot arms likewise being connected to control device 4 and beingtelemanipulatable by means of operating console 5. An instrument controlunit and a surgical instrument may also be attached to the additionalrobot arm. Medical work station 1 may include a database 14, inparticular coupled to or with control device 4, in which pre-operativedata from patient 13 and/or anatomical atlases, for example, may bestored.

For a detailed discussion of the construction and operation of medicalwork station 1 reference may be made to U.S. Pat. No. 8,828,023, filedon Nov. 3, 2011 and entitled “Medical Workstation,” the entire contentof which is incorporated herein by reference.

Control device 4 may control a plurality of motors (e.g., “M1”-“M6”).Motors “M” may be part of instrument control unit 100 and/or disposedexternally of instrument control unit 100. Motors “M” (e.g., motors “M”being located externally of instrument control unit 100) may beconfigured to rotate a crown gear “CG” (FIG. 1B), or the like, that iskeyed to or non-rotatably supported on a rotatable shaft of at leastsome of motors “M,” or act on a cable to draw in or let out length ofcable to actuate robot arms 2, 3. In use, as motors “M” are driven, therotation of crown gear(s) “CG” effects operation, movement, and/orarticulation of instrument drive assembly 200 of surgical instrument1000, and an end effector attached thereto, as discussed below. It isfurther envisioned that at least one motor “M” receives signalswirelessly (e.g., from control device 4). It is contemplated thatcontrol device 4 coordinates the activation of the various motors (Motor1 . . . n) to coordinate an operation, movement, and/or articulation ofrobot arms 2, 3 and/or surgical instrument 1000. It is envisioned thateach motor may corresponds to a separate degree of freedom of robot arms2, 3, and/or surgical instrument 1000 engaged with instrument controlunit 100. It is further envisioned that more than one motor, includingevery motor (Motor 1 . . . n), is used for each degree of freedom.

Turning now to FIGS. 2-13, instrument drive assembly 200 is configuredto engage instrument control unit 100 at a proximal end 201 thereof andcouple to surgical instrument 1000 at a distal end 202 thereof, wheresurgical instrument 1000 extends distally from instrument drive assembly200, as described herein. Instrument drive assembly 200 is configured totransfer rotational movement supplied by instrument control unit 100(e.g., via motors “M”) into longitudinal movement of a drive member 380(FIGS. 5A and 7-10) to effect various functions of surgical instrument1000.

With reference to FIGS. 2 and 8-10, instrument drive assembly 200includes a housing assembly 205 which includes a proximal housing 210and a distal housing 220. Proximal housing 210 and distal housing 220are releasably couplable to each other, which may facilitate assembly ofinstrument drive assembly 200, and which may facilitate access, repair,and/or replacement of parts housed at least partially therein. Housingassembly 205 defines at least one bore 207 (as best illustrated in FIG.4) for housing an inner drive assembly 300 (FIG. 7) therein. It isenvisioned that housing assembly 205 includes four separate bores 207,where each bore 207 is at least partially separated from each other andwhere each bore 207 is configured to house a separate single inner driveassembly 300. Additionally, as discussed below, each respective bore 207includes a longitudinally-extending channel 206 (e.g., four channels206) therein (FIG. 4). Each channel 206 is configured to slidinglyaccept a rail 353 of a drive nut 350 (FIG. 7), as described below. Inthe illustrated embodiment, instrument drive assembly 200 includes fourinner drive assemblies 300, however instrument drive assembly 200 mayinclude more (e.g., five or six) or fewer (e.g., three) inner driveassemblies 300 without departing from the scope of the presentdisclosure. It is further envisioned that all inner drive assemblies300, or a select number of inner drive assemblies, may be coupled to oneor more respective drive members 380, whereas the exemplary illustrationprovides a singular inner drive assembly 300 coupled to drive member380, as described below.

With reference to FIGS. 3, 4 and 7, each inner drive assembly 300includes a proximal gear 310, a proximal bearing 320, a distal bearing330, a drive screw 340, and drive nut 350. Drive screw 340 includes aproximal portion 342, a proximal shaft 343, a threaded portion 345 and adistal shaft 344, and defines a longitudinal axis “A-A” extendingthrough a radial center thereof (FIG. 7). Proximal gear 310 isconfigured to engage, directly or indirectly, with an instrument controlgear (e.g., crown gear “CG” of motor “M”) of instrument control unit100, such that rotation of crown gear “CG” causes a correspondingrotation of proximal gear 310. Proximal gear 310 may be a crown gear“CG” that is configured to mate with and/or mesh with crown gear “CG” ofmotor “M.” Proximal gear 310 includes an aperture 312 extendinglongitudinally therethrough configured to mechanically engage proximalportion 342 of drive screw 340. As shown, aperture 312 and proximalportion 342 of drive screw 340 have corresponding, non-circularcross-sections, such that proximal gear 310 and drive screw 340 arekeyed to one another, which results in a rotationally fixed connectiontherebetween. Rotation of proximal gear 310 causes drive screw 340 torotate about longitudinal axis “A” in a corresponding direction and rateof rotation.

Drive nut 350 includes a threaded aperture 352 extending longitudinallytherethrough, which is configured to mechanically engage threadedportion 345 of drive screw 340. That is, drive nut 350 and drive screw340 are threadingly engaged with each other. Drive nut 350 includes rail353 extending longitudinally along an outer surface thereof and isconfigured to be slidably disposed in the longitudinally extendingchannel 206 formed in bore 207 of housing assembly 205 (FIGS. 6 and 9).Rail 353 of drive nut 350 cooperates with channel 206 of bore 207 toinhibit or prevent drive nut 350 from rotating about longitudinal axis“A” as drive screw 340 is rotated. Accordingly, drive nut 350 isconfigured to be positioned on drive screw 340 in a manner such thatrotation of drive screw 340 causes longitudinal translation of drive nut350. More specifically, rotation of proximal gear 310 in a firstdirection (e.g., clockwise) causes drive screw 340 to rotate in acorresponding first direction and drive nut 350 to translate in a firstlongitudinal direction (e.g., proximally) with respect to proximal gear310, and rotation of proximal gear 310 in a second direction (e.g.,counter-clockwise) causes drive screw 340 to rotate in a correspondingsecond direction and drive nut 350 to translate in a second longitudinaldirection (e.g., distally) with respect to proximal gear 310.

Drive nut 350 further defines a bore-hole 354 laterally offset from, andparallel to, threaded aperture 352. It is contemplated that bore-hole354 may define threads on an inner surface such that drive nut 350 maybe coupled to drive member 380, as discussed below.

As illustrated (FIGS. 5A and 9), the drive nut 350 of one inner driveassembly 300 is coupled to drive member 380, where drive member 380 maydefine, for example, a drive bar or push bar, as described below. A linkbar 360 defining two bore-holes 362, 364 laterally offset from oneanother is configured to couple drive nut 350 and drive member 380(FIGS. 7 and 9). It is contemplated that a respective link bar 360 maybe provided for each respective inner drive assembly 300, or a selectnumber of link bars 360 may be provided for a select number of innerdrive assemblies 300, such that each drive nut 350 of the respectiveinner drive assembly 300 may be coupled to either a respective drivemember 380, or the same drive member 380.

Link bar 360 may be monolithically formed with drive nut 350, drivemember 380, or both drive nut 350 and drive member 380, such that drivenut 350, link bar 360, and drive member 380 consist of one unitary body.Alternatively, drive nut 350, link bar 360, and drive member 380 may befastened by any mechanical means known in the art, such as, for example,by utilizing a screw or bolt. In such an embodiment, bore-holes 362, 364of link bar 360 may define threads on an inner surface thereof, suchthat a bolt or screw may be threadably engaged between link bar 360 anddrive nut 350, and link bar 360 and drive member 380. More specifically,a screw may be threadably engaged through bore-hole 362 of link bar 360and bore-hole 354 of drive nut 350, thereby securing link bar 360thereto. An additional screw may be threadably engaged through bore-hole364 of link bar 360 and a bore-hole 382 of drive member 380, therebysecuring link bar 360 thereto. With drive nut 350 coupled to drivemember 380, it should be appreciated that proximal and distaltranslation of drive nut 350 with respect to proximal gear 310 resultsin a corresponding proximal or distal translation of drive member 380,as discussed in further detail below.

With inner drive assembly 300 and housing assembly 205 assembled,proximal bearing 320 is disposed in a proximal bearing cavity 211 ofproximal housing 210, and distal bearing 330 is disposed in a distalbearing cavity 212 of distal housing 220 (FIG. 9). Each of proximalbearing 320 and distal bearing 330 facilitate rotation of drive screw340 with respect to housing assembly 205, and may further serve asproximal and distal stops, respectively, for drive nut 350.

Drive member 380 extends distally from link bar 360, through a centralbore 208 (FIGS. 8-10) of housing assembly 205, and is configured tomechanically engage a portion of surgical instrument 1000, as describedherein. Longitudinal translation of drive member 380 is configured todrive a function of the end effector disposed at a distal end ofsurgical instrument 1000. For example, surgical instrument 1000 mayinclude a first end effector configured such that distal translation ofdrive member 380 directs a pair of jaw members of a clamping device tomove into approximation with respect to one another, and proximaltranslation of drive member 380 may be configured to move at least onejaw member into a spaced apart position with respect to the other jawmember. It should be appreciated that proximal and distal translation ofdrive member 380 may be configured to effect operation, articulation, oractuation of any number of unique end effectors of a respective surgicalinstruments 1000, such as, for example, actuation of a cutting bladeand/or initiation of the delivery of electrosurgical energy to tissue,etc.

With reference to FIGS. 2, 8A and 8B, the engagement of surgicalinstrument 1000 to instrument drive assembly 200, and more particularlyto housing assembly 205 and drive member 380, will be described. Housingassembly 205 further includes a coupling assembly 500 disposed distallyof distal end 202 of housing assembly 205. Coupling assembly 500 servesto releasably couple surgical instrument 1000 to housing assembly 205,and releasably couple an instrument drive shaft 1020 of surgicalinstrument 1000 to drive member 380 (FIGS. 8A-10).

Briefly, surgical instrument 1000 may include an instrument sleeve 1010,which defines a longitudinally extending lumen 1012 configured toreceive at least a portion of instrument drive shaft 1020 therein, andan end effector (not shown) coupled to, and disposed at, a distal end ofinstrument drive shaft 1020. Instrument drive shaft 1020 is configuredto translate longitudinally within the lumen 1012 of instrument sleeve1010, such that instrument drive shaft 1020 controls actuation,articulation, and/or firing of the end effector, such as, for example,approximation of first and second jaw members to grasp tissuetherebetween, advancement of a knife blade to sever tissue, articulationof the orientation and/or direction of the end effect, and/or any otherfunction described herein or known in the art. More specifically,through proximal and distal translation of instrument drive shaft 1020,with respect to instrument sleeve 1010, instrument drive shaft 1020actuates the end effector. For example, translation of instrument driveshaft 1020 in a first direction (e.g., distally), may cause a first andsecond jaw member (not shown) to move into a spaced apart configurationwith respect to one another such that tissue may be disposedtherebetween, and translation of instrument drive shaft 1020 in a seconddirection (e.g., proximally) may cause the first and second jaw membersto move into an approximated configuration with respect to one anothersuch that tissue disposed therebetween is securely grasped. It should beappreciated that the above examples are exemplary in nature, and theinstrument drive shaft 1020 and end effector may be configured toactuate in any number of ways.

With reference to FIGS. 8A-10, a coupling tube 400 serves tointerconnect housing assembly 205 and coupling assembly 500. Couplingtube 400 includes a proximal portion 402 disposed in a distal cavity 250of distal housing 220 of housing assembly 205, and extends distallytherefrom. Distal cavity 250 is coaxial with central bore 208 of housingassembly 205 and is configured to receive a diameter of coupling tube400 therein. As illustrated, a longitudinally extending lumen 410 ofcoupling tube 400 is configured to slidingly receive a distal portion390 of drive member 380 therein, such that a portion of drive member 380is translatable therethrough. Coupling tube 400 extends distally througha longitudinal cavity 510 of coupling assembly 500, such that couplingassembly 500 is slidably supported thereon, as discussed below. As such,it should be appreciated that central bore 208 of housing assembly 205,drive member 380, coupling tube 400, and longitudinal cavity 510 ofcoupling assembly 500 are coaxial.

Coupling assembly 500 is longitudinally translatable along coupling tube400 between a proximal position (FIG. 8B) and a distal position (FIG.8A), with respect to housing assembly 205. As will be described below,in the proximal position, instrument sleeve 1010 of surgical instrument1000 is releasably coupled to coupling assembly 500 and instrument driveshaft 1020 is releasably coupled to drive member 380; and in the distalposition, instrument sleeve 1010 is securely coupled to couplingassembly 500 and instrument drive shaft 1020 is securely coupled todrive member 380. It is envisioned that coupling assembly 500 mayadditionally aid alignment of instrument drive shaft 1020 and drivemember 380 during coupling.

More specifically, instrument sleeve 1010 of surgical instrument 1000 isslidably inserted into a distal opening 404 of coupling tube 400. Anotch 1014 extending outward from an outer surface of instrument sleeve1010 is configured to abut distal end 404 of coupling tube 400 wheninstrument sleeve 1010 of surgical instrument 1000 is fully insertedtherein. It is further envisioned that coupling assembly 500 provides aretention mechanism 550, such that instrument sleeve 1010 of surgicalinstrument 1000 is releasably retained or secured within coupling tube400, and thus, releasably secured to coupling assembly 500 and thushousing assembly 205. As will be described herein below, retentionmechanism 550 is transitionable between a locked configuration and anunlocked configuration.

It is contemplated that as instrument sleeve 1010 of surgical instrument1000 slides proximally within coupling tube 400, a button or biasingmember 552 disposed in longitudinal cavity 510 of coupling assembly 500is configured to engage a recess 1015 disposed on the outer surface ofinstrument sleeve 1010. As best illustrated in FIGS. 8A and 8B, button552 may be disposed in longitudinal cavity 510 such that it resides in aradial cavity 405 extending through a portion of coupling tube 400. Itshould be appreciated that button 552 translates radially inward withrespect to a longitudinal axis “B” (FIG. 8A) of coupling tube 400 toengage instrument sleeve 1010 of surgical instrument 1000 in the lockedconfiguration, and translates radially outward (FIG. 8B) to disengageinstrument sleeve 1010 in the unlocked configuration. With button 552 inthe locked configuration, button 552 is engaged with recess 1015 suchthat longitudinal translation of instrument sleeve 1010 of surgicalinstrument 1000, within coupling tube 400, is inhibited, and in theunlocked configuration, button 552 is disengaged from recess 1015 suchthat instrument sleeve 1010 freely slides proximally and distally withincoupling tube 400. Radial cavity 405 may be transverse to thelongitudinal axis “B” of coupling tube 400, such that when button 552actuates between the locked and unlocked configurations, button 552translates perpendicular to coupling tube 400, and instrument sleeve1010 of surgical instrument 1000 inserted therein. Alternatively, radialcavity 405 and button 552 may be configured such that button 552translates at an angle with respect to the longitudinal axis “B” ofcoupling tube 400, such that button 552 slides into and out ofengagement with recess 1015 of instrument sleeve 1010 of surgicalinstrument 1000.

It is further contemplated that retention mechanism 550 may be disposedproximally of distal end 404 of coupling tube 400, such that instrumentsleeve 1010 of surgical instrument 1000 slides within coupling tube 400in a proximal direction an initial distance prior to engaging button 552of retention member 550. It is further envisioned that a biasing member555 may be disposed within longitudinal cavity 510 of coupling assembly500 which is configured to bias button 552 into the lockedconfiguration. Biasing member 555 may include a spring element disposedwithin radial cavity 405 in abutment with both button 552 andlongitudinal cavity 510 and/or coupling tube 400. With button 552 biasedinto the locked configuration, as instrument sleeve 1010 slidesproximally, the bias member 555 is overcome and button 552 is urgedradially outward into the unlocked configuration. Once instrument sleeve1010 is translated proximally the initial distance, recess 1015 isaligned with button 552, permitting button 552 to return to the lockedconfiguration.

As referenced above, coupling assembly 500 of housing assembly 205 isslidably supported on coupling tube 400 between a proximal position anda distal position with respect to housing assembly 205. With couplingassembly 500 in the distal position, e.g., a locked configuration,button 552 of retention mechanism 550 is maintained in the lockedconfiguration with respect to instrument sleeve 1010 of surgicalinstrument 1000, and with coupling assembly 500 in the proximalposition, e.g., an unlocked configuration, button 552 may be actuatedinto the unlocked configuration with respect to instrument sleeve 1010.Thus, translation of coupling assembly 500 permits the locking andunlocking of instrument sleeve 1010 of surgical instrument 1000.

It should be appreciated that a distal portion 511 of longitudinalcavity 510 of coupling assembly 500 defines a larger diameter, such thatwhen coupling assembly 500 is in the proximal position, distal portion511 of the longitudinal cavity 510 aligns with button 552, such thatbutton 552 is disposed therein and thus permitted to translate radiallyoutward into the unlocked configuration with respect to instrumentsleeve 1010 of surgical instrument 1000.

It is contemplated that coupling assembly 500 further includes a biasingelement 580, such that coupling assembly 500 is biased into the distalposition, e.g., the locked configuration. In an exemplary illustration,biasing element 580 is disposed in a proximal portion 509 oflongitudinal cavity 510, however it is envisioned that biasing element580 may be disposed in any portion of coupling assembly 500. Morespecifically, when uncoupling surgical instrument 1000 from instrumentdrive assembly 200, coupling assembly 500 is translated proximally, suchthat button 552 aligns with the distal portion 511 of the longitudinalcavity 510 of coupling assembly 500, and such that button 552 maytranslate radially outward, out of engagement with recess 1015 ofinstrument sleeve 1010. With button 552 disengaged, instrument sleeve1010 is permitted to slide distally to be removed from coupling tube400, and instrument drive assembly 200.

With reference to FIGS. 7-9, engagement of drive member 380 of innerdrive assembly 300 and instrument drive shaft 1020 of surgicalinstrument 1000 will be discussed. As best illustrated in FIG. 7, adistal portion 382 of drive member 380 defines an engagement region 386.Engagement region 386 of drive member 380 includes a plurality oflongitudinally extending slits 384, where each slit 384 is disposedabout a circumference of a distal end 388 of drive member 380, andextends proximally therefrom along a portion of drive member 380. As aresult of the plurality of longitudinally extending slits 384, theengagement region 386 of drive member 380 forms an expandable leaffeature, and may thus flex radially outward to facilitate the releasablecoupling of instrument drive shaft 1020 of surgical instrument 1000therewith. It is further envisioned that an inner surface of retentionregion 386 of drive member 380 may define an arcuate cavity, e.g., asocket joint, configured to receive a coupling ball 1022 of instrumentdrive shaft 1020 of surgical instrument 1000, as described below. It iscontemplated that engagement region 386 of drive member 380 furtherincludes retention hooks 385 disposed at the distal end 388 of drivemember 380 on an inner facing surface thereof, where retention hooks 385facilitate retention of coupling ball 1022 of instrument drive shaft1020 therein.

More specifically, instrument drive shaft 1020 of surgical instrument1000 includes a neck 1024 extending proximally from a proximal end 1021thereof, where coupling ball 1022 (shown in phantom in FIG. 7) isdisposed at a proximal end 1023 of neck 1024. It is contemplated thatcoupling ball 1022, neck 1024, and instrument drive shaft 1020 may becoupled by any means known in the art and/or may be monolithicallyformed. A diameter of neck 1024 may be smaller than a diameter ofcoupling ball 1022, such that when coupling ball 1022 is received withinretention region 386 of drive member 380, retention hooks 385 ofretention region 386 surround and enclose coupling ball 1022, thusproviding further securement therein. When coupling drive member 380 ofinner drive assembly 300 and instrument drive shaft 1020 of surgicalinstrument 1000, the coupling ball 1022 of instrument drive shaft 1020is brought into approximation with retention region 386 of drive member380. As instrument drive shaft 1020 is moved proximally with respect todrive member 380, coupling ball 1022 urges retention region 386 to flexradially outward, such that coupling ball 1022 is received therein. Withcoupling ball 1022 received within retention region 386, coupling ball1022 is thereby releasably coupled to drive member 380. With drivemember 380 coupled to instrument drive shaft 1020, proximal and distaltranslation of drive member 380 directs a corresponding proximal anddistal translation of instrument drive bar 1020.

To uncouple instrument drive shaft 1020 of surgical instrument 1000 fromdrive member 380 of inner drive assembly 300, instrument drive bar 1020is moved distally with respect to drive member 380, such that couplingball 1022 is pulled out of, and released from, retention region 386.

During use, with instrument drive assembly 200 in an active state (e.g.,when motor(s) “M” of instrument control unit 100 rotate proximal gear(s)310), rotation of proximal gear 310 results in a corresponding rotationof drive screw 340. Rotation of drive screw 340 causes longitudinaltranslation of drive nut 350 due to the engagement between threadedportion 345 of drive screw 340 and threaded aperture 352 of drive nut350. As discussed above, the direction of rotation of proximal gear 310,and thus drive screw 340, determines the direction of longitudinaltranslation of drive nut 350. With instrument sleeve 1010 of surgicalinstrument 1000 coupled to coupling assembly 500, and instrument driveshaft 1020 coupled to drive member 380, rotation of proximal gear 310directs linear translation of drive member 380 and instrument driveshaft 1020. More specifically, rotation of proximal gear 310 in a firstdirection (e.g., clockwise) causes drive screw 340 to rotate in acorresponding first direction and drive nut 350 to translate in a firstlongitudinal direction (e.g., proximally) with respect to proximal gear310, which translates drive member 380 and instrument drive shaft 1020in a corresponding first longitudinal direction (e.g., proximally).Rotation of proximal gear 310 in a second direction (e.g.,counter-clockwise) causes drive screw 340 to rotate in a correspondingsecond direction and drive nut 350 to translate in a second longitudinaldirection (e.g., distally) with respect to proximal gear 310, whichtranslates drive member 380 and instrument drive shaft 1020 in acorresponding second longitudinal direction (e.g., distally).

With reference to FIGS. 11-21B, an alternate embodiment of instrumentdrive assembly 200, in accordance with the present disclosure, will bedescribed with reference to instrument drive assembly 2000. As discussedbelow, instrument sleeve 1010 and instrument drive shaft 1020 ofsurgical instrument 1000 are also releasably couplable to instrumentdrive assembly 2000.

With reference to FIGS. 11, 12 and 15, instrument drive assembly 2000includes a housing assembly 2005 having a first side 2001 and a secondside 2002, where first and second sides 2001, 2002 define a cavity 2020therebetween. Housing assembly 2005 further includes a proximal endplate 2010 supported at a proximal end 2003 thereof, a distal end plate2030 supported at a distal end 2004 thereof, a drive assembly 2300supported in cavity 2020, an internal plate 2040 supported in cavity2020, a coupling assembly 2500 disposed in cavity 2020, and a couplingtube 2400 supported by distal end plate 2030 and extending distallythereof. As best illustrated in FIG. 15, first and second sides 2001,2002 of housing assembly 2005 act as two halves of a shell, withproximal end plate 2010 acting as a proximal wall and distal end plate2030 acting as a distal wall. Housing assembly 2005 further includes arelease mechanism 2006 disposed on first side 2001, second side 2002,and/or both first and second sides 2001, 2002. Release mechanism 2006 ofhousing assembly 2005 serves to provide a quick and easy means forcoupling and uncoupling instrument drive assembly 2000 and instrumentcontrol unit 1000.

Proximal end plate 2010 of housing assembly 2005 defines at least onethrough-hole 2011 therein, and in an embodiment it is envisioned thatproximal end plate 2010 may define four through-holes 2011 therein. Eachthrough-hole 2011 is configured to receive a proximal gear 2310 of driveassembly 2300 therethrough, such that proximal gear 2310 may engage theinstrument control gear of instrument control unit 100.

Distal end plate 2030 of housing assembly 2005 includes at least one rodreceiving portion 2032 and at least one distal bearing cavity 2039,where the rod receiving portion 2032 and the distal bearing cavity 2039are disposed on a proximal surface 2036 thereof. In an embodiment it isenvisioned that distal end plate 2030 may include a pair of rodreceiving portions 2032 laterally offset from each other. Distal endplate 2030 further defines an elongated cavity 2034, such that elongatedcavity 2034 extends inward from an outer edge 2038 of distal end plate2030 to align with a longitudinal axis “C” of housing assembly 2005(FIGS. 11 and 17). It is envisioned that elongated cavity 2034 of distalend plate 2030 of housing assembly 2005 defines a generally “U” shapedcavity configured to support coupling tube 2400, such that coupling tube2400 is supported therein and extends distally from cavity 2020 ofhousing assembly 2005, as described below.

Internal plate 2040 of housing assembly 2005 defines a firstthrough-hole 2042 which is coaxial with the longitudinal axis “C” ofhousing assembly 2005, a second through-hole 2044 laterally offset fromlongitudinal axis “C” and which is coaxial with at least onethrough-hole 2011 of proximal end plate 2010, and at least one rodreceiving portion 2046 laterally offset from longitudinal axis “C”. Aside edge 2048 of internal plate 2040 is supported in a channel 2021defined in an inner surface 2022 of both first and second sides 2001,2002 of housing assembly 2005, such that internal plate 2040 is fixedtherein. It is envisioned that internal plate 2040 provides structuralsupport for housing assembly 2005, and further provides support fordrive assembly 2300, as discussed below.

With reference to FIGS. 15-17, drive assembly 2300 of housing assembly2005 will be further described. Drive assembly 2300 of housing assembly2005 includes a proximal gear 2310, a proximal bearing 2320, a distalbearing 2330, a drive screw 2340, a drive plate 2350, and a guide rod2360. Drive screw 2340 includes a proximal portion 2342, a proximalshaft 2343, a threaded portion 2345 and a distal shaft 2344, and definesa longitudinal axis “D” extending through a radial center thereof (FIG.16). Proximal gear 2310 is configured to engage with the instrumentcontrol gear (e.g., crown gear “CG” of motor “M”) of instrument controlunit 100, such that rotation of crown gear “CG” causes a correspondingrotation of proximal gear 2310. Proximal gear 2310 may be a crown gear“CG” that is configured to mate with and/or mesh with crown gear “CG” ofmotor “M.” Proximal gear 2310 includes an aperture 2312 extendinglongitudinally therethrough configured to mechanically engage proximalportion 2342 of drive screw 2340. As illustrated, aperture 2312 andproximal portion 2342 of drive screw 2340 have corresponding,non-circular cross-sections, such that proximal gear 2310 and drivescrew 2340 are keyed to one another, which results in a rotationallyfixed connection therebetween. Rotation of proximal gear 2310 causesdrive screw 2340 to rotate about longitudinal axis “D” of drive screw2340 in a corresponding direction and rate of rotation.

Drive plate 2350 of drive assembly 2300 includes at least one threadedaperture 2352 and at least one through-hole 2354 extendinglongitudinally therethrough. Threaded aperture 2352 is configured tomechanically engage threaded portion 2345 of drive screw 2340. That is,drive plate 2350 and drive screw 2340 of drive assembly 2300 arethreadingly engaged with each other. Guide rod 2360 of drive assembly2300 is slidably disposed in a through-hole 2354 of drive plate 2350,where a first end 2362 of guide rod 2360 is coupled to rod receivingportion 2032 of distal end plate 2030 and a second end 2364 of guide rod2360 is coupled to rod receiving portion 2046 of internal plate 2040. Itis envisioned that guide rod 2360 is laterally offset from, and parallelto, longitudinal axis “D” of drive screw 2340. It should be appreciatedthat housing assembly 2005 may include any number of guide rods 2360,where each guide rod 2360 is disposed in a respective rod receivingportion 2032 of proximal end plate 2030, a respective rod receivingportion 2046 of internal plate 2040, and a respective through-hole 2353of drive plate 2350. In an embodiment, it is envisioned that housingassembly 2005 may include a pair of guide rods 2360, where guide rods2360 are laterally offset from, and symmetrically spaced about,longitudinal axis “C” of housing assembly 2005. As such, guide rod 2360inhibits or prevents drive plate 2350 from rotating about longitudinalaxis “D” of drive screw 2340 as drive screw 2340 is rotated.Accordingly, drive plate 2350 is configured to be engaged with drivescrew 2340 in a manner such that rotation of drive screw 2340 causeslongitudinal translation of drive plate 2350. More specifically,rotation of proximal gear 2310 in a first direction (e.g., clockwise)causes drive screw 2340 to rotate in a corresponding first direction anddrive plate 2350 to translate in a first longitudinal direction (e.g.,proximally) with respect to proximal gear 2310, and rotation of proximalgear 2310 in a second direction (e.g., counter-clockwise) causes drivescrew 2340 to rotate in a corresponding second direction and drive plate2350 to translate in a second longitudinal direction (e.g., distally)with respect to proximal gear 2310.

Drive plate 2350 of drive assembly 2300 further includes a mountingbracket 2370 extending distally from a distal facing surface 2371thereof. With brief reference to FIG. 15, mounting bracket 2370 of driveplate 2350 supports coupling assembly 2500 thereon. Coupling assembly2500 is configured to mechanically engage instrument drive shaft 1020 ofsurgical instrument 1000, such that proximal and distal translation ofdrive plate 2350, with respect to proximal gear 2310, results inproximal and distal translation of instrument drive shaft 1020, asdiscussed in further detail below. Longitudinal translation of driveplate 2350 is configured to drive a function of the end effector ofsurgical instrument 1000 in a similar fashion as drive member 380 ofinstrument drive assembly 200, and thus will not be discussed in anyfurther detail herein. Longitudinal translation of drive plate 2350further directs locking and unlocking of coupling assembly 2500 withrespect to instrument drive shaft 1020, as discussed below.

With drive assembly 2300 and housing assembly 2005 assembled, proximalbearing 2320 of drive assembly 2300 is supported in through-hole 2011 ofinternal plate 2040, and distal bearing 2330 of drive assembly 2300 isdisposed in distal bearing cavity 2039 of distal end plate 2030 (FIG.17). Each of proximal bearing 2320 and distal bearing 2330 facilitaterotation of drive screw 2340 with respect to housing assembly 2005,where internal plate 2040 and distal end plate 2030 may serve asproximal and distal stops, respectively, for drive plate 2350. Driveassembly 2300 may further include a washer or spacer 2301 disposed aboutproximal shaft 2343 of drive screw 2030, between proximal bearing 2320of drive assembly 2300 and threaded portion 2345 of drive screw 2340 ofdrive assembly 2300. Washer 2301 further facilitates rotation of drivescrew 2340. Drive assembly 2300 may further include a biasing element2380 disposed about drive screw 2340 between washer 2301 and drive plate2350. Biasing element 2380 serves as a return spring providing distalbias to drive plate 2340, as discussed below.

Referring to FIG. 17, housing assembly 2005 further includes couplingtube 2400. Coupling tube 2400 includes a proximal end 2402 defining athrough-hole 2403, and a longitudinal bore or lumen 2405 extendingdistally therefrom. It is envisioned that longitudinal bore 2405 definesa larger diameter than through-hole 2403, such that longitudinal bore2405 is configured to receive both instrument sleeve 1010 and instrumentdrive shaft 1020 of surgical instrument 1000 therein, and through-hole2403 is configured to receive only instrument drive shaft 1020therethrough, as discussed below. Coupling tube 2400 is supported inelongated cavity 2034 of distal end plate 2030 of housing assembly 2005such that a distal portion 2401 of couple tube 2400 extends distallytherefrom. It is envisioned that coupling tube 2400 may bemonolithically formed with distal end plate 2030, or may alternativelybe releasably couplable to elongated cavity 2034, such that couplingtube 2400 slides into and out of engagement with elongated cavity 2030.Longitudinal bore 2405 and through-hole 2403 of coupling tube 2400define a longitudinal axis “T” of coupling tube 2400 (FIG. 18A), whichmay be coaxial with longitudinal axis “C” of housing assembly 2005.Longitudinal bore 2405 is configured to slidingly receive a proximalportion 1009 of instrument sleeve 1010. It is envisioned that duringcoupling of surgical instrument 1000 with instrument drive assembly2000, coupling tube 2400 may aid alignment of instrument drive shaft1020 and drive assembly 2300. More specifically, instrument sleeve 1010of surgical instrument 1000 is slidably inserted into a distal opening2404 of coupling tube 2400 of housing assembly 2005 of instrument driveassembly 2000. When instrument sleeve 1010 of surgical instrument 1000is fully inserted into longitudinal bore 2405 of coupling tube 2400, aproximal end 1011 of instrument sleeve 1010 abuts a distally facingsurface of proximal end 2402 of coupling tube 2400.

Housing assembly 2005 further includes a retention mechanism 2550configured to releasably retain or secure instrument sleeve 1010 ofsurgical instrument 1000 to coupling tube 2400, and thus to housingassembly 2005. With reference to FIGS. 15, 16, and 18A-19D, retentionmechanism 2550 includes a lock plate 2552, a button 2555, and a releasearm 2558. Coupling tube 2400 of housing assembly 2005 defines a lockingcavity 2551 disposed along a length thereof, such that lock plate 2552is slidably insertable therein. Lock plate 2552 defines a through-hole2553 configured to slidingly receive instrument sleeve 1010therethrough, and is transitionable between a locked and unlockedconfiguration, with respect to instrument sleeve 1010, as discussedbelow. More specifically, in the locked configuration through-hole 2553of lock plate 2552 is off-axis of, and offset or angled from, thelongitudinal axis “T” of coupling tube 2400, and in the unlockedconfiguration through-hole 2553 of lock plate 2552 is coaxial with thelongitudinal axis “T” of coupling tube 2400.

Release arm 2558 of retention mechanism 2550 defines an engagementregion 2557 configured to engage a portion of button 2555, and anabutment region 2556, configured to abut lock plate 2552. Button 2555 isslidably coupled to housing assembly 2005, and actuatable between firstand second positions. As button 2555 translates proximally, with respectto housing assembly 2005, button 2555 slides from the first position tothe second position, such that the engagement region 2557 of release arm2558 ride along a cam slot 2554 of button 2555. Cam slot 2554 of button2555 has a first end 2554 a and a second end 2554 b, wherein when button2555 is in the first position the engagement region 2557 of release arm2558 is disposed at the first end 2554 a of cam slot 2554 and theabutment region 2556 of release arm 2558 is spaced away from lock plate2552. When button 2555 is in the second position the engagement region2557 of release arm 2558 is disposed at the second end 2554 b of camslot 2554 and abutment region 2556 of release arm 2558 is in abutmentwith lock plate 2552. Accordingly, as engagement region 2557 cams alongcam slot 2554, abutment region 2556 of release arm 2558 comes into andout of abutment with lock plate 2552, thus transitioning lock plate 2552between the locked and unlocked configurations, respectively.

It is envisioned that the transition of button 2555 from the firstposition to the second position may correspond to the transitioning oflock plate 2552 into the unlocked configuration. It is contemplated thatretention mechanism 2550 may further include a biasing member 2559disposed in locking cavity 2551, such that lock plate 2552 is biased tothe locked configuration. It is further contemplated that button 2555may include a biasing member (not shown) supported thereon such thatbutton 2555 is biased to the first position.

With continued reference to FIGS. 18A-19D, coupling and uncoupling ofinstrument sleeve 1010 of surgical instrument 1000 to retentionmechanism 2550 of instrument drive assembly 2000 will be discussed.During coupling of instrument sleeve 1010 to retention mechanism 2550,instrument sleeve 1010 is inserted into distal opening 2404 of couplingtube and slid proximally therein (FIG. 18A). As the proximal end 1011 ofinstrument sleeve 1010 approaches the proximal end 2402 of coupling tube2400, the proximal end 1011 of instrument sleeve 1010 urges lock plate2551 to transition into the unlocked configuration (e.g., through-hole2553 is coaxial with longitudinal axis “T” of coupling tube 2400) (FIG.18B). As instrument sleeve 1010 continues to slide proximally, lockplate 2552 aligns with recess 1015 of instrument sleeve 1010, such thatlock plate 2552 is permitted to transition into the locked configuration(e.g., through-hole 2553 is offset or angled from longitudinal axis “T”of coupling tube 2400) (FIG. 18C). With lock plate 2551 engaged withinrecess 1015 of instrument sleeve 1010, longitudinal translation ofinstrument sleeve 1010, within coupling tube 2400, is inhibited.

During uncoupling of instrument sleeve 1010 of surgical instrument 1000from retention mechanism 2550 of instrument drive assembly 2000, button2555 is transitioned into the second position, such that engagementregion 2557 of release arm 2558 cams along cam slot 2554 of button 2555into the second end 2554 b of cam slot 2554 (FIGS. 19A and 19B). Withengagement region 2557 at the second end 2554 b of cam slot 2554,abutment region 2556 of release arm 2558 is brought into abutment withlock plate 2552, urging lock plate 2551 into the unlocked configuration(e.g., through-hole 2553 is coaxial with longitudinal axis “T” ofcoupling tube 2400) (FIG. 19B). With lock plate 2551 in the unlockedconfiguration, lock plate 2551 is disengaged from recess 1015 ofinstrument sleeve 1010, such that instrument sleeve 1010 is free to bewithdrawn from and uncoupled from coupling tube 2400 (FIGS. 19C and19D).

With reference to FIGS. 15 and 16, coupling assembly 2500 of instrumentdrive assembly 2000 will be discussed. Coupling assembly 2500 isdisposed in cavity 2020 of housing assembly 2005 and supported by driveplate 2350. Coupling assembly 2500 serves to releasably coupleinstrument drive shaft 1020 of surgical instrument 1000 to driveassembly 2300 of housing assembly 2005. Coupling assembly 2500 engageswith mounting bracket 2370 of drive plate 2350, which as noted above,extends distally from the distal facing surface 2371 of drive plate2350.

Mounting bracket 2370 of drive plate 2350 is configured to pivotablysupport a drive link 2510 thereon, where drive link 2510 is configuredto engage with, and couple to, instrument drive shaft 1020 of surgicalinstrument 1000, as discussed below. Mounting bracket 2370 includes apair of receiving arms 2374, where receiving arms 2374 are spaced apartfrom one another and define a receiving nook or through-hole 2372therein, where through-hole 2372 of each receiving arm 2374 is alignedsuch that a first pin 2376 may be disposed therein. Drive link 2510 isconfigured to be received between receiving arms 2374 of mountingbracket 2370, and is pivotably couple thereto via first pin 2376. Firstpin 2376 passed through each through-hole 2372 of receiving arms 2374and a cam slot 2512 of drive link 2510. It is envisioned that drive link2510 may alternatively be coupled to mounting bracket 2370 via a pair ofextrusions or bosses extending from alternate sides of drive link 2510.

Drive link 2510 of coupling assembly 2500 further defines a through-hole2514 therein, such that a second pin 2378 couples drive link 2510 to athrough-hole 2407 disposed on a proximal portion 2408 of coupling tube2400. It is envisioned that through-hole 2407 of coupling tube 2400 maybe transverse to longitudinal axis “C” of housing assembly 2005. Assuch, when coupled, drive link 2510 is pivotably coupled to couplingtube 2400 between a locked position and an unlocked position, withrespect to instrument drive shaft 1020 of surgical instrument 1000. Morespecifically, as drive plate 2350 of drive assembly 2300 translatesproximally or distally, as discussed above, first pin 2376 rides alongcam slot 2512 of drive link 2510 directing drive link 2510 to pivotabout second pin 2378.

With reference to FIGS. 21A and 21B, drive link 2510 of couplingassembly 2500 further defines a receiving region 2516 disposed on adistal facing surface thereof, which is configured to releasably retainand secure coupling ball 1022 of instrument drive shaft 1020. Receivingregion 2516 of drive link 2510 defines a cavity 2517 therein, a port2518 extending into cavity 2517, and a channel 2519 extending alongcavity 2517. Receiving region 2516 of drive link 2510 acts as a socketjoint for coupling ball 1022 of instrument drive shaft 1020, wherecoupling ball 1022 can only enter and exit cavity 2517 through port2518. Through pivoting of drive link 2510 between the unlocked andlocked positions, port 2518 is correspondingly oriented to be alignedwith, or brought off axis of, or angled from, longitudinal axis “T” ofcoupling tube 2400, respectively. More specifically, with drive link2510 in the unlocked position, port 2518 is aligned with longitudinalaxis “T”, such that coupling ball 1022 of instrument drive shaft 1020may be received therein. Once drive link 2510 is pivoted to the lockedposition, port 2518 is brought off-axis of, or angled from, longitudinalaxis “T” of coupling tube 2400, and coupling ball 1022 of instrumentdrive shaft 1020 is captured within cavity 2517. In the locked position,neck 1024 of instrument shaft 1020 resides in channel 2519 of receivingregion 2516 of drive link 2510, where channel 2519 is configured to besmaller than a diameter of coupling ball 1022, thus locking couplingball 1022 in cavity 2517 of receiving region 2516 of drive link 2510. Assuch, port 2518 of receiving region 2516 of drive link 2510 isconfigured to receive coupling ball 1022 of instrument drive shaft 1020therethrough, while channel 2519 of receiving region 2516 of drive link2510 is configured to inhibit coupling ball 1022 from leaving cavity2517. With reference to FIGS. 21A and 21B, coupling ball 1022 (shown inphantom) is disposed in cavity 2517 of receiving region 2516 and neck1024 is disposed in channel 2519.

With reference to FIGS. 20A-20C, the engagement of instrument driveshaft 1020 of surgical instrument 1000 to coupling assembly 2500 ofinstrument drive assembly 2000 will be discussed. As discussed above,proximal and distal translation of drive plate 2350 of drive assembly2300 pivots drive link 2510 between the unlocked position and the lockedposition, such that coupling assembly 2500 transitions between theunlocked and locked configuration, respectively. With drive plate 2350in a distal most position, coupling assembly 2500 is in the unlockedconfiguration, drive link 2510 is in the unlocked position, such thatport 2518 of drive link 2510 is aligned with longitudinal axis “T” ofcoupling tube 2400 (FIG. 20A). With port 2518 aligned with longitudinalaxis “T”, instrument drive shaft 1020 is inserted into the distal end2404 of coupling tube 2400 and translated proximally, such that couplingball 1022 of instrument drive shaft 1020 is brought into approximationwith port 2518 of receiving region 2516 of drive link 2510. Asinstrument drive shaft 1020 translates proximally, coupling ball 1022 isinserted through port 2518 and brought into cavity 2517 of retentionregion 2516 of drive link 2510 (FIG. 20B). With coupling ball 1022residing in cavity 2517, drive plate 2350 is translated proximally. Asdrive plate 2350 is translated proximally, first pin 2376 rides alongcam slot 3512 of drive link 2510, such that drive link 2510 pivots aboutsecond pin 2378 into the locked position. With drive link 2510 in thelocked position, neck 1024 of instrument shaft 1020 is disposed inchannel 2519 of drive link 2510, thus capturing coupling ball 1022within cavity 2517 of receiving region 2516 of drive link 2510 (FIG.20C). Further, in the locked position, port 2518 of receiving region2516 of drive link 2510 is brought off axis of, or angled from, thelongitudinal axis “T” of coupling tube 2400. With drive link 2510pivoted into the locked position, coupling assembly 2500 is thus in thelocked configuration, with respect to instrument drive shaft 1020.Further proximal movement of drive plate 2350 causes drive link 2510 topivot past the locked position directing proximal translation ofinstrument drive shaft 1020. Accordingly, proximal translation of driveplate 2350 causes drive plate 2510 to pivot past the locked position,thus directing proximal translation of instrument drive shaft 1020,which actuates the end effector (not shown) disposed at the distal endof instrument drive shaft 1020.

With reference to FIGS. 19A-20C, a complete coupling and decoupling ofinstrument drive assembly 2000 to surgical instrument 1000 will bebriefly discussed. Initially, instrument sleeve 1010 of surgicalinstrument 1000 is inserted into coupling tube 2400 of housing assembly2005 and translated proximally until lock plate 2552 of retentionmechanism 2550 is brought into engagement with recess 1015 of instrumentsleeve 1010, thus inhibiting any further translation of instrumentsleeve 1010. It should be appreciated that coupling of instrument sleeve1010 and retention mechanism 2550 may be performed with button 2555 ofretention mechanism in either the first or second position. Next, driveplate 2350 of drive assembly 2300 is translated into a distal mostposition, such that drive link 2510 is pivoted into the unlockedposition. Instrument drive shaft 1020 is then inserted proximallythrough instrument sleeve 1010 until coupling ball 1022 is engaged withdrive link 2510. It is envisioned that instrument sleeve 1010 mayalternatively be omitted, and thus instrument drive shaft 1020 may beinserted directly through coupling tube 2400. Once coupling ball 1022 isdisposed in receiving region 2516 of drive link 2510, drive plate 2350is translated proximally, such that drive link 2510 is pivoted into thelocked position, and coupling assembly 2500 is translated into thelocked configuration. Once instrument drive shaft 1020 is coupling withdrive plate 2350, via drive link 2510, further proximal translation ofdrive plate 2350 directs actuation, articulation, or firing of the endeffector of surgical instrument 1000.

During decoupling, drive plate 2350 of drive assembly 2300 is returnedto the distal most position, such that drive link 2510 pivots to theunlocked position, and coupling assembly 2500 translates into theunlocked configuration. Instrument drive shaft 1020 of surgicalinstrument 1000 may now by translated distally, such that coupling ball1022 is brought out of, or withdrawn from, receiving region 2516 ofdrive link 2510, and decoupled from instrument drive assembly 2000.Button 2555 of retention mechanism 2550 may then be translated into thesecond position, such that release arm 2558 abuts lock plate 2552, thusurging lock plate 2552 out of engagement with recess 1015 of instrumentsleeve 1010 of surgical instrument 1000. Instrument sleeve 1010 may nowbe translated distally and withdrawn from coupling tube 2400. It isenvisioned that outer sleeve 1010 and instrument drive shaft 1020 may beconfigured to be coupled, and uncoupled, independently and/or in anyorder.

During use of instrument drive assembly 2000, it should be appreciatedthat rotation of proximal gear 2310 of drive assembly 2300 in a firstdirection (e.g., clockwise) causes drive screw 2340 to rotate in acorresponding first direction, drive plate 2350 to translate in a firstlongitudinal direction (proximally), and drive link 2510 to pivot(towards the locked position as illustrated in FIG. 20C). Furthertranslation of drive plate 2350 in the first longitudinal directioncauses drive link 2510 to continue to pivot, past the locked position,such that instrument drive shaft 1020 is translated in the firstlongitudinal direction. Similarly, rotation of proximal gear 2310 ofdrive assembly 2300 in a second direction (e.g., counter-clockwise)causes drive screw 2340 to rotate in a corresponding second direction,drive plate 2350 to translate in a second longitudinal direction(distally), and drive link 2510 to pivot (towards the unlocked positionas illustrated in FIG. 20B). As drive link 2510 pivots from a positionpast the locked position towards the locked position, instrument driveshaft 1020 is driven in the second longitudinal direction. Furthertranslation of drive plate 2350 in the second longitudinal causes drivelink 2510 to pivot into the unlocked position, such that instrumentdrive shaft 1020 may be decoupled therefrom.

With reference to FIGS. 22-31B, another embodiment of an instrumentdrive assembly in accordance with the present disclosure will bedescribed with reference to instrument drive assembly 3000. Engagementand driving of instrument drive assembly 3000 and medical work station 1are similar to that of instrument drive assembly 2000, and thus onlydifference and distinctions of instrument drive assembly 3000 will bediscussed herein below. It should be appreciated that instrument sleeve1010 and instrument drive shaft 1020 of surgical instrument 1000 mayalso be releasably coupled with instrument drive assembly 3000.

With reference to FIGS. 22-26, instrument drive assembly 3000 includes ahousing assembly 3005 having a first side 3001 and a second side 3002,where first and second sides 3001, 3002 define a cavity 3020therebetween. Housing assembly 3005 further includes a proximal endplate 3010 supported at a proximal end 3003 thereof, a distal end plate3030 supported at a distal end 3004 of housing assembly 3005, a driveassembly 3300 (FIG. 25) supported in cavity 3020, an internal plate 3040supported in cavity 3020, a retention mechanism 3550 disposed in cavity3020, a coupling tube 3400 supported by distal end plate 3030, and acoupling assembly 3500 (FIGS. 30A-31B) disposed in cavity 3020. Housingassembly 3005 further includes a release mechanism 3006 disposed onfirst side 3001, second side 3002, and/or both first and second sides3001, 3002. In a similar fashion as housing assembly 2005 of instrumentdrive assembly 2000, release mechanism 3006 of housing assembly 3005serves to provide a quick and easy means for decoupling instrument driveassembly 3000 from instrument control unit 100.

Proximal end plate 3010 of housing assembly 3005 defines at least onethrough-hole 3011 therethrough, and in an embodiment it is envisionedthat proximal end plate 3010 may define four through-holes 3011therethrough. Each through-hole 3011 is configured to receive a proximalgear 3310 of drive assembly 3300 therethrough, such that proximal gear3310 may engage the instrument control gear of instrument control unit100.

Distal end plate 3030 of housing assembly 3005 defines an elongatedcavity 3034, such that elongated cavity 3034 extends inward from anouter edge 3038 of distal end plate 3030 to align with a longitudinalaxis “E” of housing assembly 3005 (FIG. 26). It is envisioned thatelongated cavity 3034 of distal end plate 3030 of housing assembly 3005defines a generally “U” shaped cavity or profile configured to supportcoupling tube 3400, such that coupling tube 3400 is supported thereinand extends distally from cavity 3020 of housing assembly 3005.

Internal plate 3040 of housing assembly 3005 defines a centralthrough-hole 3042 which is coaxial with the longitudinal axis “E” ofhousing assembly 3005, at least one bearing cavity 3044 (FIG. 26)laterally offset from longitudinal axis “E” and which is coaxial with arespective through-hole 3011 of proximal end plate 3010, and a centralcavity 3046 disposed along a proximal surface 3045 of internal plate3040 which is coaxial with central through-hole 3042 and defines alarger diameter with respect to central through-hole 3042. A side edge3048 of internal plate 3040 is supported within first and second sides3001, 3002 of housing assembly 3005 and engages at least one stop member3021 extending from an inner surface 3022 of both first and second sides3001, 3002 of housing assembly 2005, such that internal plate 3040 iscaptured within housing assembly 3005 and linearly fixed therein. It isenvisioned that internal plate 3040 provides structural support forhousing assembly 3005, and further provides support for drive assembly3300.

With reference to FIGS. 22-26, drive assembly 3300 includes anengagement assembly 3302 and a transfer assembly 3304. As illustrated,drive assembly 3300 includes two engagement assemblies 3302, however,any number engagement assemblies 3302 are envisioned herein. Eachengagement assembly 3302 includes a coupling rod 3309, a proximal gear3310, a proximal bearing 3320, a distal bearing 3330, and a distal gear3340 disposed between proximal bearing 3320 and distal bearing 3330.

Coupling rod 3309 includes a proximal portion 3307 and a distal portion3308, and defines a longitudinal axis “F” extending through a radialcenter thereof (FIG. 25). Proximal gear 3310 is configured to engagewith the instrument control gear (e.g., crown gear “CG” of motor “M”) ofinstrument control unit 100, such that rotation of crown gear “CG”causes a corresponding rotation of proximal gear 3310. Proximal gear3310 may be a crown gear “CG” that is configured to mate with and/ormesh with crown gear “CG” of motor “M.” Proximal gear 3310 includes anaperture 3312 extending longitudinally therethrough configured tomechanically engage proximal portion 3307 of coupling rod 3309. Asillustrated, aperture 3312 and proximal portion 3307 of coupling rod3309 have corresponding, non-circular cross-sections, such that proximalgear 3310 and coupling rod 3309 are keyed to one another, which resultsin a rotationally fixed connection therebetween. Rotation of proximalgear 3310 causes coupling rod 3309 to rotate about longitudinal axis “F”of coupling rod 3309 in a corresponding direction and rate of rotation.Distal gear 3340 is coupled to distal portion 3308 of coupling rod 3309and may be keyed, or otherwise rotationally fixed with respect tocoupling rod 3309 in a similar manner as proximal bearing 3310, suchthat rotation of coupling rod 3309, via rotation of proximal gear 3310,directs distal gear 3340 to rotate in a corresponding direction and rateof rotation. Alternatively, distal gear 3340 may be monolithicallyformed with coupling rod 3309, such that coupling rod 3309 extendsproximally therefrom.

Transfer assembly 3304 of drive assembly 3300 includes a central gear3350, a stem 3352 extending distally from central gear 3350, a proximalbearing 3353, and a distal bearing 3354. Stem 3352 defines a recess 3355therein which extends proximally from a distal end 3351 of stem 3352.Central gear 3350 is positioned between internal plate 3040 and proximalend plate 3010. Proximal bearing 3353 is interposed between central gear3350 and proximal end plate 3010, and distal bearing 3354 is positionedabout stem 3352 and interposed between stem 3352 of central gear 3350and central cavity 3046 of internal plate 3040. As such, central gear3350 is longitudinally fixed within housing assembly 3005, rotatableabout longitudinal axis “E” (FIG. 26) of housing assembly 3005, and islaterally offset from longitudinal axis “F” (FIG. 25) of engagementassembly 3302 defined by coupling rod 3309. Central gear 3350 isconfigured to engage and mesh with distal gear 3340 of engagementassembly 3302, such that rotation of distal gear 3040, via rotation ofproximal gear 3310, corresponds to a rotation of central gear 3350. Itshould be appreciated that stem 3352 and central gear 3350 may berotationally fixed, or monolithically formed, such that rotation ofcentral gear 3350 directs stem 3252 to rotate in a correspondingdirection and rate of rotation.

With continued reference to FIGS. 24-26, drive assembly 3300 furtherincludes a coupler 3360, a drive screw 3370, a stop cap 3376, and a clip3378. Coupler 3360 defines a threaded aperture 3362 and a key feature3364 on an external surface 3365 thereof. Coupler 3360 is disposedwithin recess 3355 of stem 3352 of central gear 3350, and is linearlyand rotationally fixed therewith. Key feature 3364 mates with acorresponding key feature 3356 of recess 3355 such that rotation ofcentral gear 3350 directs coupler 3360 to rotate in a correspondingdirection and rate of rotation. Drive screw 3370 includes a threadedportion 3372 disposed about a proximal portion 3371 thereof configuredto engage threaded aperture 3362 of coupler 3360, and a coupling feature3374 disposed at a distal portion 3373 thereof. Thus, coupler 3360interconnects drive screw 3370 and central gear 3350. Distal portion3373 of drive screw 3370 extends distally from coupler 3360, such thatcoupling feature 3374 is positioned within a proximal portion 3036 ofelongated cavity 3034 of distal end plate 3030. Drive assembly 3300 mayfurther include a drive spring 3380 disposed about drive screw 3370 andinterposed between internal plate 3040 and stop cap 3376 or a proximaledge 3032 of elongated cavity 3034 of distal end plate 3030. Drivespring 3380 serves to dampen the linear translation of drive screw 3370.

Coupling feature 3374 of drive screw 3370 engages coupling assembly3500. With brief reference to FIG. 24, distal end plate 3030 pivotablysupports coupling assembly 3500 thereon. Coupling assembly 3500 ofinstrument drive assembly 3000 is configured to mechanically engageinstrument drive shaft 1020 of surgical instrument 1000, such thatproximal and distal translation of drive screw 3370, with respect tocoupler 3360, results in proximal and distal translation of instrumentdrive shaft 1020. Linear translation of drive screw 3370 is configuredto drive a function of the end effector of surgical instrument 1000 in asimilar fashion as drive member 380 of instrument drive assembly 200,and drive plate 2350 of instrument drive assembly 2000, and thus willnot be discussed in any further detail herein. Linear translation ofdrive screw 3370 further directs locking and unlocking of couplingassembly 3500 with respect to instrument drive shaft 1020.

During rotation of coupler 3360, via rotation of central gear 3350,threaded aperture 3362 of coupler 3360 engages and drives threadedportion 3372 of drive screw 3370. As coupler 3360 is caused to rotateabout longitudinal axis “E” of housing assembly 3005, drive screw 3370translates linearly with respect to coupler 3360. Thus, rotationalmotion of central gear 3350, via engagement assembly 3302, istransferred into linear motion of drive screw 3370, via engagementbetween threated aperture 3362 of coupler 3360 and threaded portion 3372of drive screw 3370. Accordingly, as central gear 3340 rotates aboutlongitudinal axis “E”, coupler 3360 also rotates about longitudinal axis“E”, and drive screw 3370 engaged therewith is caused to translatelinearly, with respect to coupler 3360, along longitudinal axis “E” as aresult of the threaded relationship therebetween.

A stop cap 3376 is disposed about drive screw 3370 distal of threadedportion 3372, such that proximal portion 3371 of drive screw 3370 mayslide linearly within a through-hole 3375 of stop cap 3376. A clip 3378is disposed about drive screw 3370 distal of stop cap 3376, and isconfigured to engage recess 3377 defined on drive screw 3370. It shouldbe appreciated that clip 3378 affixes stop cap 3376 at a positionbetween threaded portion 3372 and coupling feature 3374. Further, stopcap 3376 and clip 3378 engage a recess 3031 disposed on proximal edge3032 of elongated cavity 3034 of distal end plate 3030. During lineartranslation of drive screw 3370, with respect to coupler 3360, stop cap3376 defines a maximum distal position of drive screw 3370. Moreparticularly, with stop cap 3376 engaged with recess 3031 of distal endplate 3030, as drive screw 3370 translates distally to a maximum distalposition, threaded portion 3372 thereof comes into abutment with stopcap 3376, whereby stop cap 3376 is linearly fixed via clip 3378 andengagement with distal end plate 3030, thus inhibiting further distaltranslation of drive screw 3370.

With continued reference to FIGS. 24 and 26, housing assembly 3005includes a coupling tube 3400. Coupling tube 3400 extends distally fromhousing assembly 3005 and is configured to receive instrument sleeve1010 and instrument drive shaft 1020 of surgical instrument 1000 in asimilar manner to that of coupling tube 2400 of instrument drive unit2000. Coupling tube 3400 includes a proximal end 3402 defining athrough-hole 3403, and a longitudinal bore or lumen 3405 extendingdistally therefrom. It is envisioned that longitudinal bore 3405 definesa larger diameter than through-hole 3403, such that longitudinal bore3405 is configured to receive both instrument sleeve 1010 and instrumentdrive shaft 1020 of surgical instrument 1000 therein, and through-hole3403 is configured to receive only instrument drive shaft 3020therethrough. Coupling tube 3400 is supported in elongated cavity 3034of distal end plate 3030 of housing assembly 3005 such that a distalportion 3401 of coupling tube 3400 extends distally therefrom. It isenvisioned that coupling tube 3400 may be monolithically formed withdistal end plate 3030, or may alternatively be releasably couplable toelongated cavity 3034, such that coupling tube 3400 slides into and outof engagement with elongated cavity 3030. Longitudinal bore 3405 andthrough-hole 3403 of coupling tube 3400 define a longitudinal axis “G”of coupling tube 3400 (FIG. 24), which may be coaxial with longitudinalaxis “E” of housing assembly 3005. Longitudinal bore 3405 is configuredto slidingly receive proximal portion 1009 of instrument sleeve 1010. Itis envisioned that during coupling of surgical instrument 1000 withinstrument drive assembly 3000, coupling tube 3400 may aid alignment ofinstrument drive shaft 1020 and drive assembly 3300. More specifically,instrument sleeve 1010 of surgical instrument 1000 is slidably insertedinto a distal opening 3404 of coupling tube 3400. When instrument sleeve1010 of surgical instrument 1000 is fully inserted into longitudinalbore 3405 of coupling tube 3400, proximal end 1011 of instrument sleeve1010 abuts a distally facing surface of proximal end 3402 of couplingtube 3400.

Housing assembly 3005 further includes a retention mechanism 3550configured to releasably retain or secure instrument sleeve 1010 ofsurgical instrument 1000 to coupling tube 3400, and thus to housingassembly 3005. With reference to FIGS. 24-29C, retention mechanism 3550includes a latch plate 3552, a button 3555, and a cam arm 3558 extendingfrom button 3555. Coupling tube 3400 of housing assembly 3005 defines alocking cavity 3551 disposed distal of proximal end 3402 which extendsinto longitudinal bore 3405. Latch plate 3552 includes an arm 3553 and apivot recess 3554. Pivot recess 3554 is configured to pivotably couplewith a pivot stem 3039 of distal end plate 3030 being laterally off-setfrom longitudinal axis “E” of housing assembly 3005, whereby pivot stem3039 extends distally from distal end plate 3030. More particularly,latch plate 3552 pivots about pivot recess 3554 and pivot stem 3039transverse to longitudinal axis “E” of housing assembly 3005 andlongitudinal axis “G” of coupling tube 3400.

With latch plate 3552 pivotably coupled to pivot stem 3039, latch plate3552 is disposed within locking cavity 3551 such that as latch plate3552 pivots, arm 3553 of latch plate 3552 pivots into and out ofalignment with longitudinal bore 3405 of coupling tube 3400. As such,latch plate 3552 pivots between locked and unlocked configurations, withrespect to instrument sleeve 1010. More specifically, in the lockedconfiguration arm 3553 of latch plate 3552 is positioned withinlongitudinal bore 3405 of coupling tube 3400 and intersects thelongitudinal axis “G” thereof (FIGS. 27A, 28A, and 28B), and in theunlocked configuration arm 3553 of latch plate 3552 is positioned out oflongitudinal bore 3405 of coupling tube 3400 and is off-axis of, andoffset or angled from, the longitudinal axis “G” thereof (FIGS. 27B,28C, and 28D).

It should be appreciated that button 3555 acts as an instrument releasebutton similar to that of button 2555 of instrument drive unit 2000,such that instrument sleeve 1010 is releasably couplable to instrumentdrive unit 3000. Button 3555 is slidably coupled to housing assembly3005 and linearly transitionable between first and second positions withrespect to distal end plate 3030. Linear articulation of button 3555between first and second positions acts to transition latch plate 3552between the locked and unlocked configurations, respectively. Moreparticularly, as button 3555 translates proximally from the firstposition (FIGS. 27A, 28A, and 28B) towards the second position (FIGS.27B, 28C and 28D) in the direction of arrow “X”, with respect to distalend plate 3030, cam arm 3558 of button 3555 engages arm 3553 of latchplate 3552. As cam arm 3558 engages arm 3553, arm 3553 is caused topivot in the direction of arrow “Y” out of longitudinal bore 3405,bringing latch plate 3552 into the unlocked configuration (FIGS. 27B,28C and 28D) with respect to instrument sleeve 1010. As should beappreciated, as button 3555 translates distally, with respect to distalend plate 3030, from the first position towards the second position, camarm 3558 is disengaged with arm 3553 of latch plate 3552 permitting arm3553 to pivot into alignment with longitudinal bore 3405 bringing latchplate 3552 into the locked configuration (FIGS. 27A, 28A, and 28B) withrespect to instrument sleeve 1010.

Retention mechanism 3550 may further include a first biasing member 3557interposed between latch plate 3552 and coupling tube 3400, such thatlatch plate 3552 is biased into or out of locking cavity 3551, and thusbiased into either the locked or unlocked configuration. Further,retention mechanism 3550 may include a second biasing member 3559interposed between button 3555 and distal end plate 3030, such thatbutton 3555 is biased into either the first or second position.

With continued reference to FIGS. 27A-29C, coupling and uncoupling ofinstrument sleeve 1010 of surgical instrument 1000 to retentionmechanism 3550 of instrument drive assembly 3000 will be discussed.During coupling of instrument sleeve 1010 to coupling assembly 3500,instrument sleeve 1010 is inserted into distal opening 3404 of couplingtube 3400 and slid proximally therein (FIG. 29A). As the proximal end1011 of instrument sleeve 1010 approaches proximal end 3402 of couplingtube 3400, the proximal end 1011 of instrument sleeve 1010 urges arm3553 of latch plate 3552 to transition into the unlocked configuration(e.g., arm 3553 pivots within locking cavity 3551 of coupling tube 3400and into a position out of longitudinal bore 3405 and off axis oflongitudinal axis “G” of coupling tube 3400) (FIGS. 27B, 28C, 28D, and29A). As instrument sleeve 1010 continues to slide proximally, arm 3553aligns with recess 1015 of instrument sleeve 1010, such that arm 3553 ispermitted to pivot into the locked configuration (e.g., arm 3553 pivotswithin locking cavity 3551 of coupling tube 3400 and into engagementwith recess 1015 of instrument sleeve 1010) (FIG. 29B). With arm 3553 oflatch plate 3552 engaged within recess 1015 of instrument sleeve 1010,longitudinal translation of instrument sleeve 1010, within coupling tube3400, is inhibited. In an embodiment with first biasing element 3557,latch plate 3552 may be biased into the locked configuration, such thatarm 3553 is biased into engagement with recess 1015 and thus springsinto engagement with recess 1015 upon insertion of instrument sleeve1010.

It should be appreciated that button 3555 may be slide proximally fromthe first position towards the second position in the direction of arrow“X” during coupling of instrument sleeve 1010 and retention mechanism3550, wherein button 3555 is slid distally from the second positiontowards the first position in the direction of arrow “Z” once instrumentsleeve 1010 is fully inserted within coupling tube 3400 and arm 3553aligns with recess 1015 (FIG. 29C). In an embodiment with second biasingelement 3559, button 3555 may be biased towards the first position inthe direction of arrow “Z” (e.g., cam arm 3558 is biased out ofengagement with arm 3553), such that once arm 3553 engages recess 1015of instrument sleeve 1010 button 3555 springs towards the firstposition.

During uncoupling of instrument sleeve 1010 of surgical instrument 1000from retention mechanism 3550 of instrument drive assembly 3000, button3555 is transitioned from the first position (e.g., the proximalposition illustrated in FIGS. 27A, 28A, 29B, and 29C) towards the secondposition (e.g., the distal position illustrated in FIGS. 27B, 28C, 29A)in the direction of arrow “X”. As button 3555 slides towards the secondposition, cam arm 3558 of button 3555 cams along arm 3553 of latch plate3552, causing arm 3553 to pivot into a position out of longitudinal bore3405 and off axis of longitudinal axis “G” of coupling tube 340 into theunlocked configuration (e.g., arm 3553 pivots within locking cavity 3551of coupling tube 3400 out of engagement with recess 1015 of instrumentsleeve 1010) (FIGS. 28D and 29A). With arm 3553 pivoted out of therecess 1015 of instrument sleeve 1010, instrument sleeve 1010 is free tobe withdrawn from and uncoupled from coupling tube 3400.

With reference to FIGS. 24 and 25, coupling assembly 3500 of instrumentdrive assembly 3000 will be discussed. Coupling assembly 3500 isdisposed in cavity 3020 of housing assembly 3005 and is pivotablysupported by distal end plate 3030. Coupling assembly 3500 serves toreleasably couple instrument drive shaft 1020 of surgical instrument1000 to drive assembly 3300.

Coupling assembly 3500 includes a drive link 3510 configured to engagewith, and couple to, instrument drive shaft 1020 of surgical instrument1000. Drive link 3510 is pivotably coupled to distal end plate 3030 viaa set of opposing protrusions 3512 extending therefrom which residewithin a slot 3514 defined through distal end plate 3030. It isenvisioned that opposing protrusions 3512 may be monolithically formedwith drive link 3510, or alternatively, may define a pin which passestherethrough to reside within slot 3514. A pin 3516 couples drive link3510 and coupling feature 3374 of drive screw 3370, such that pin 3516passes through a pinhole 3515 of drive ink 3510 and coupling feature3374. In such an embodiment, coupling feature 3374 may define athrough-hole 3379 which may be transverse to longitudinal axis “E” ofhousing assembly 3005. In an embodiment, coupling feature 3374 maydefine a boss or protrusion which engages pinhole 3515, thereby couplingdrive screw 3370 and drive link 3510.

As such, when coupled, drive link 3510 is pivotably coupled to distalend plate 3030, via engagement of protrusions 3512 of drive link 3510and slot 3514 of distal end plate 3030, and pivotably coupled to drivescrew 3370, via engagement of pin 3516 and through-hole 3379 of couplingfeature 3374 of drive screw 3370. Thus, drive link 3510 istransitionable between a locked position (FIG. 30C) and an unlockedposition (FIGS. 30A and 30B), with respect to instrument drive shaft1020 of surgical instrument 1000. More specifically, as drive screw 3370of drive assembly 3300 translates proximally or distally, as discussedabove, drive link 3510 is caused to pivot about protrusions 3512.Accordingly, similar to that of instrument drive unit 2000, instrumentdrive shaft 1020 may be coupled and uncoupled from instrument drive unit3000 through the cooperation of the linear translation of drive screw3370 and the pivoting of drive link 3510.

With reference to FIGS. 31A and 31B, drive link 3510 of couplingassembly 3500 further defines a receiving region 3518 disposed on adistal facing surface thereof, which is configured to releasably retainand secure coupling ball 1022 of instrument drive shaft 1020. Receivingregion 3518 of drive link 3510 defines a cavity 3520 therein, a port3522 extending into cavity 3520, and a channel 3524 extending alongcavity 3520. Receiving region 3518 of drive link 3510 acts as a socketjoint for coupling ball 1022 of instrument drive shaft 1020, wherecoupling ball 1022 can only enter and exit cavity 3520 through port3522. Through pivoting of drive link 3510 between the unlocked andlocked positions, port 3522 is correspondingly oriented to be alignedwith, or brought off axis of, or angled from, the longitudinal axis “G”of coupling tube 3400, respectively. More specifically, with drive link3510 in the unlocked position (FIGS. 30A and 30 B), port 3522 is alignedwith longitudinal axis “G”, such that coupling ball 1022 of instrumentdrive shaft 1020 may be received therein. Once drive link 3510 ispivoted to the locked position (FIGS. 30C-31B), port 3522 is broughtoff-axis of, or angled from, longitudinal axis “G” of coupling tube3400, and coupling ball 1022 of instrument drive shaft 1020 is capturedwithin cavity 3520. In the locked position, neck 1024 of instrumentshaft 1020 resides in channel 3524 of receiving region 3518 of drivelink 3510, where channel 3524 is configured to be smaller than adiameter of coupling ball 1022, thus capturing coupling ball 1022 withincavity 3520 of receiving region 3518 of drive link 3510. As such, port3522 of receiving region 3518 of drive link 3510 is configured toreceive coupling ball 1022 of instrument drive shaft 1020 therethrough,while channel 3524 of receiving region 3518 of drive link 3510 isconfigured to inhibit coupling ball 1022 from leaving cavity 3520. Withreference to FIGS. 31A and 31B, coupling ball 1022 (shown in phantom) isdisposed in cavity 3520 of receiving region 3518 and neck 1024 isdisposed in channel 3524.

With reference to FIGS. 30A-30C, the engagement of instrument driveshaft 1020 of surgical instrument 1000 to coupling assembly 3500 ofinstrument drive assembly 3000 will be discussed. As discussed above,proximal and distal translation of drive screw 3370 of drive assembly3300 pivots drive link 3510 between the unlocked and locked positions,such that coupling assembly 3500 transitions between the unlocked andlocked configuration, respectively. With drive screw 3370 in a distalmost position, drive link 3510 is in the unlocked position and couplingassembly 3500 is in the unlocked configuration, such that port 3522 ofdrive link 3510 is aligned with longitudinal axis “G” of coupling tube3400 (FIGS. 30A and 30B). With port 3522 aligned with longitudinal axis“G”, instrument drive shaft 1020 is inserted into the distal opening3404 of coupling tube 3400 and translated proximally, such that couplingball 1022 of instrument drive shaft 1020 is brought into approximationwith port 3522 of receiving region 3518 of drive link 3510. Asinstrument drive shaft 1020 translates proximally, coupling ball 1022 isinserted through port 3522 and brought into cavity 3520 of retentionregion 3518 of drive link 3510 (FIG. 30B). With coupling ball 1022residing in cavity 3520, drive screw 3370 is translated proximally. Asdrive screw 3370 is translated proximally, drive link 3510 pivots aboutprotrusions 3512 into the locked position. With drive link 3510 in thelocked position, neck 1024 of instrument shaft 1020 is disposed inchannel 3524 of drive link 3510, thus capturing coupling ball 1022within cavity 3520 of receiving region 3518 of drive link 3510 (FIG.30C). Further, in the locked position, port 3522 of receiving region3518 of drive link 3510 is brought off axis of, or angled from, thelongitudinal axis “G” of coupling tube 3400. With drive link 3510pivoted into the locked position coupling assembly 3500 is thus in thelocked configuration with respect to instrument drive shaft 1020. Withcoupling assembly 3500 in the locked configuration, further proximalmovement of drive screw 3370 causes drive link 3510 to pivot past thelocked position directing proximal translation of instrument drive shaft1020. Accordingly, proximal translation of drive screw 3370 causes drivelink 3510 to pivot past the locked position, thus directing proximaltranslation of instrument drive shaft 1020, which actuates the endeffector (not shown) disposed at the distal end of instrument driveshaft 1020.

With reference to FIGS. 27A-31B, a complete coupling and decoupling ofinstrument drive assembly 3000 to surgical instrument 1000 will bebriefly discussed. Initially, instrument sleeve 1010 of surgicalinstrument 1000 is inserted into coupling tube 3400 of housing assembly3005 and translated proximally until arm 3553 of latch plate 3552 ofretention mechanism 3550 is brought into engagement with recess 1015 ofinstrument sleeve 1010, thus inhibiting any further translation ofinstrument sleeve 1010. It should be appreciated that coupling ofinstrument sleeve 1010 and retention mechanism 3550 may be performedwith button 3555 of retention mechanism 3550 in either the first orsecond position. Next, drive screw 3370 of drive assembly 3300 istranslated into a distal most position, such that drive link 3510 ispivoted into the unlocked position and coupling assembly 3500 is broughtinto the unlocked configuration. Instrument drive shaft 1020 is theninserted proximally through instrument sleeve 1010 until coupling ball1022 is engaged with drive link 3510. Alternatively, it is envisionedthat instrument sleeve 1010 may be omitted, and thus instrument driveshaft 1020 may be inserted directly through coupling tube 3400. Oncecoupling ball 1022 is disposed in receiving region 3518 of drive link3510, drive screw 3370 is translated proximally, such that drive link3510 is pivoted into the locked position, and coupling assembly 3500 istranslated into the locked configuration. Once instrument drive shaft1020 is coupling with drive link 3510, further proximal translation ofdrive screw 3370 directs actuation, articulation, or firing of the endeffector of surgical instrument 1000.

During decoupling, drive screw 3370 of drive assembly 3300 is returnedto the distal most position, such that drive link 3510 pivots to theunlocked position, and coupling assembly 3500 transitions into theunlocked configuration. Instrument drive shaft 1020 of surgicalinstrument 1000 may now by translated distally, such that coupling ball1022 is brought out of, or withdrawn from, receiving region 3518 ofdrive link 3510, and decoupled from instrument drive assembly 3000.Button 3555 of retention mechanism 3500 may then be translated from thefirst position (e.g., distal position) towards the second position(e.g., proximal position), such that cam arm 3558 of button 3555 engagesand pivots arm 3553 of latch plate 3552 out of engagement with recess1015 of instrument sleeve 1010 of surgical instrument 1000. Instrumentsleeve 1010 may now be translated distally and withdrawn from couplingtube 3400. It is envisioned that outer sleeve 1010 and instrument driveshaft 1020 may be configured to be coupled, and uncoupled, independentlyand/or in any order.

During use of instrument drive assembly 3000, it should be appreciatedthat rotation of proximal gear 3310 of drive assembly 3300 in a firstdirection (e.g., clockwise) causes central gear 3350 to rotate in anopposing direction, which directs drive screw 3370 to translate in afirst linear direction (e.g., proximally), and pivots drive link 3510(e.g., towards the locked position as illustrated in FIG. 30C). Furthertranslation of drive screw 3370 in the first linear direction causesdrive link 3510 to continue to pivot, past the locked position, suchthat instrument drive shaft 1020 is translated in the first lineardirection. Similarly, rotation of proximal gear 3310 of drive assembly3300 in a second direction (e.g., counter-clockwise) causes central gear3350 to rotate in an opposing direction, which directs drive screw 3370to translate in a second linear direction (e.g., distally), and pivotsdrive link 3510 (e.g., towards the unlocked position as illustrated inFIGS. 30A and 30B). As drive link 3510 pivots from a position past thelocked position towards the locked position, instrument drive shaft 1020is driven in the second linear direction. Further translation of drivescrew 3370 in the second linear direction causes drive link 3510 tocontinue pivoting into the unlocked position, such that instrument driveshaft 1020 may be decoupled therefrom.

It is contemplated that instrument sleeve 1010 of surgical instrument1000 may further include a flush or inflation port 1080 disposeddistally of proximal end 1011 (FIG. 11) of instrument sleeve 1010. Port1080 may be used to introduce fluids into or out of the surgical sitethrough longitudinal lumen 1012 of instrument sleeve 1010. Port 1080 mayfurther be used as an alignment feature, such that at least one recess900 or 3900 disposed along distal opening 2404 of coupling tube 2400, ora distal opening 3404 of coupling tube 3400 respectively, acts as akeying feature for instrument sleeve 1010 and/or instrument drive shaft1020 (FIGS. 12 and 31A) of surgical instrument 1000. It is envisionedthat at least two recesses 900, 3900 may be included and spaced 180°apart about distal opening 2404 of coupling tube 2400 or distal opening3404 of coupling tube 3400. It is envisioned that coupling tube 400 ofinstrument drive assembly 200 may similarly define a recess disposedalong distal opening 404 to serve as a keying feature when couplinginstrument drive assembly 200 and instrument sleeve 1010 of surgicalinstrument 1000.

Further still, instrument drive assembly 3000 may include a controller3950 disposed within housing assembly 3005 (FIG. 24). It is envisionedthat instrument drive assembly 200, 2000 and 3000 may further includecontroller 3950. Controller 3950 is configured to identify a surgicalinstrument 1000 coupled thereto, either through a wired or wireless datacommunication (e.g., Bluetooth®, WiFI®, ZigBee®, RFID, etc.), such thatcontroller 3950 may adjust and tailor the instrument drive assembly 200,2000, or 3000 for the specific surgical tool 1000. Controller 3950 mayretrieve data pertaining to the operational parameters of the identifiedsurgical tool 1000 from an internal storage medium or an external storedmedium, e.g., wired or wireless communication with medical work station1. Such data of surgical tool 1000 may include force or torquecapabilities, calibration procedures, usage data, serial oridentification markers, end effector function and operationalparameters, instrument sleeve 1010 and/or instrument drive shaft 1020length, etc.

With reference to FIGS. 1-31B, a kit will be described. A kit mayinclude one or more instrument drive assemblies 200, one or moreinstrument drive assemblies 2000, one or more instrument driveassemblies 3000, or any combination thereof. The kit may further includeone or more surgical instruments 1000, where the end effector of eachsurgical instrument may vary to provide a number of end effector optionsto a user. It is further envisioned that the kit may include alternateinstrument sleeves 1010 and/or instrument drive shafts 1020, such thatthe operator may interchange instrument sleeves 1010 and instrumentdrive shafts 1020 for a given procedure. A variety of instrument sleeves1010 and/or instrument drive shafts 1020 defining a range of lengthsand/or diameters may be provided to the user, such that the user has avariety of sized surgical instrument 1000 available.

Referring now to FIGS. 32-34, a surgical assembly, generally referred toas 4000 defines a longitudinal axis “L” and includes an instrument driveassembly 4100 and a surgical instrument 4200 that are configured toselectively threadably couple together. Instrument drive assembly 4100of surgical assembly 4000 is similar to instrument drive assemblies 200,2000, 3000, but includes a coupling tube 4110 supported on a distal endportion of instrument drive assembly 4100. Coupling tube 4110 ofinstrument drive assembly 4100 includes a threaded outer surface 4112configured to threadably couple to a proximal portion of surgicalinstrument 4200 to axially fix surgical instrument 4200 to instrumentdrive assembly 4100.

Surgical instrument 4200 of surgical assembly 4000 includes a shaftassembly 4210 that supports a knob 4220 on a proximal end portionthereof and a jaw assembly 4230 on a distal end portion thereof. Jawassembly 4230 includes a first jaw member 4230 a and a second jaw member4230 b disposed in mirrored relation to first jaw member 4230 b. One orboth of first and second jaw members 4230 a, 4230 b of jaw assembly 4230may be movable (e.g., pivotable) relative to one another to enable firstand/or second jaw members 4230 a, 4230 b to move between an openposition (FIG. 32) and a closed position (not shown), as indicated byarrows “P” for treating tissue (e.g., one or more of grasping, cutting,stapling, sealing, etc.) captured by the first and second jaw members4230 a, 4230 b.

The knob 4220 of surgical instrument 4200 includes a handle portion 4220a and nose portion 4220 b that extends distally from handle portion 4220a. Knob 4220 further includes an outer surface 4220 c and an innersurface 4220 d. Outer surface 4220 c of knob 4220 includes grippinggrooves 4220 e defined along handle portion 4220 a of knob 4220 toenhance gripping and rotation of handle portion 4220 a (e.g., relativeto coupling tube 4110 of instrument drive assembly 4100). Inner surface4220 d of knob 4220 defines a bore 4222 through knob 4220 and includesthreads 4224 that extend along handle portion 4220 a about bore 4222.Threads 4224, along inner surface 4220 d of knob 4220, are configured tothreadably couple with threaded outer surface 4112 of coupling tube 4110of instrument drive assembly 4100, as indicated by arrows “T,” to enablesurgical instrument 4200 and instrument drive assembly 4100 of surgicalassembly 4000 to selectively threadably couple together (and/oruncouple, for example, for instrument exchange and/orcleaning/autoclaving of surgical instrument 4200). Inner surface 4220 dof knob 4220 further includes an annular shoulder 4226.

Shaft assembly 4210 of surgical instrument 4200 includes an outer shaftassembly 4212 and an inner shaft 4214. Outer shaft assembly 4212 ofshaft assembly 4210 defines a luer flush port 4212 a (e.g., tofacilitate cleaning) in a proximal end portion thereof that is in fluidcommunication with a lumen 4212 b defined by an inner surface of outershaft assembly 4212. Lumen 4212 b of outer shaft assembly 4212 ispositioned to receive the inner shaft 4214 therein and extends throughouter shaft assembly 4212 from luer flush port 4212 a to a distal endportion of outer shaft assembly 4212. Outer shaft assembly 4212 includesa pair of clocking flats 4212 c, 4212 e that are positioned to enableouter tube assembly 4212 to engage a complementary feature (not shown,but keyed to rotatably lock with clocking flats 4212 c, 4212 e)supported within coupling tube 4110 of instrument drive assembly 4100 sothat jaw assembly 4230 of surgical instrument 4200 is maintained ineither one of two orientations (e.g., one of two vertical orientations180 degrees apart). For example, in a first orientation, clocking flat4212 c is positioned superiorly of clocking flat 4212 d such that firstjaw member 4230 a is positioned superiorly of second jaw member 4230 b.In a second orientation, clocking flat 4212 d is positioned superiorlyof clocking flat 4212 e such that second jaw member 4230 b is positionedsuperiorly of first jaw member 4230 a.

Although shown and described as vertical orientations, clocking flats4212 c, 4212 d of outer shaft assembly 4212 of surgical instrument 4200,and/or the first and/or second jaw members 4230 a, 4230 b of surgicalinstrument 4200 can have any number of orientations and/or arrangementswith respect to one another (e.g., more than two orientations and/ornon-vertical orientations such as lateral and/or inclined/angledorientations, etc. and which may be separated by an suitable angular arcrelative to one another). For example, although shown with two clockingpositions that are 180 degrees apart, any number of clocking flats maybe separated by one or more arc lengths such as 45 degrees, 60 degrees,90 degrees, 120 degrees, etc.

Outer shaft assembly 4212 of surgical instrument 4200 further includesan annular flange 4212 e that is positioned to abut annular shoulder4226 of knob 4220 of surgical instrument 4200 to prevent axial movementof outer tube assembly 4212 relative to knob 4220 and/or inner shaft4214 of surgical instrument 4200. Outer shaft assembly 4212 alsosupports an insert lock assembly 4216. Insert lock assembly 4216includes a clip 4216 a (e.g., a C-clip that may include elastomericmaterials) that functions to urge and/or radially constrain a lock body4216 b (which may include metallic materials) of insert lock assembly4216 into lumen 4212 b of outer shaft assembly 4212. The function of theinsert lock assembly 4216 is to prevent relative rotation between innershaft 4214 (and attached components) and outer shaft assembly 4212 (andattached components). This may be necessary to cause torsional load atone or both of first and second jaw members 4230 a, 4230 b of jawassembly 4230. Knob 4220 may be advanced proximally/distally tolock/unlock insert lock assembly 4216 to enable a user to exchange tools(e.g., jaw assembly 4230), for example.

Lock body 4216 b of insert lock assembly 4216 of outer tube assembly4214 is retained by clip 4216 a. In particular, clip 4215 a loads lockbody 4216 b radially inward against outer shaft assembly 4212. Flats4212 c, 4212 e on inner shaft 4214 of surgical instrument 4200 areprovided such that, in some orientations, lock body 4216 b is forcedradially outward. When knob 4220 is advanced proximally, radial outwardmotion of lock body 4216 b is prevented, and thus, tool rotation is alsoprevented. When knob 4220 is advanced distally, radial outward motion oflock body 4216 b is enabled, and thus, tool rotation (e.g., jaw assembly4230 rotation) is enabled relative to outer shaft assembly 4212. Thisthen enables tool (e.g., jaw assembly 4230) removal and replacement fromouter shaft assembly 4212.

Inner shaft assembly 4214 of surgical instrument 4200 is constructed andoperates similar to instrument drive shaft 1020 of surgical instrument1000 described above (see FIGS. 8A-10, for example), but includes arecessed segment 4214 a that defines proximal and distal abutments 4214b, 4214 c at respective proximal and distal ends thereof. Lock body 4216b of insert lock assembly 4216 of outer tube assembly 4214 is positionedto engage proximal and distal abutments 4214 b, 4214 c of recessedsegment 4214 a as inner shaft assembly 4214 moves axially relative toouter tube assembly 4214 between proximal and distal positions thereof,as indicated by arrow “N,” to limit axial movement of inner shaftassembly 4214 relative to outer tube assembly 4214.

It will be understood that various modifications may be made to theembodiments disclosed herein. Therefore, the above description shouldnot be construed as limiting, but merely as exemplifications of variousembodiments. Those skilled in the art will envision other modificationswithin the scope and spirit of the claims appended thereto.

1. An instrument drive assembly for use with a surgical instrument, theinstrument drive assembly comprising: a housing assembly supporting adrive assembly therein; a coupling tube supported at a distal end of thehousing assembly and extending distally therefrom; a coupling assemblysupported in the housing assembly, the coupling assembly configured toreleasably couple to an instrument drive shaft of the surgicalinstrument; and a retention mechanism configured to releasably couple toan instrument sleeve of the surgical instrument.
 2. The instrument driveassembly of claim 1, wherein the retention mechanism is supported in thehousing assembly and includes: a button slidably coupled to the housingassembly and including a cam arm, the button slidable between a firstposition and a second position, and a latch plate pivotable coupled tothe housing assembly and configured to transition between a lockedconfiguration and unlocked configuration with respect to an instrumentsleeve of the surgical instrument, the latch plate including an armconfigured to engage the cam arm of the button and a portion of theinstrument sleeve, wherein in the first position of the button the armof the latch plate is configured to engage a portion of an instrumentsleeve, and in the second position of the button the cam arm of thebutton engages the arm of the latch plate such that the latch plate isconfigured to pivot out of engagement with a portion of an instrumentsleeve.
 3. The instrument drive assembly of claim 2, wherein theretention mechanism further includes a first biasing member interposedbetween the latch plate and the housing assembly such that the latchplate is biased into one of the locked or unlocked configurations. 4.The instrument drive assembly of claim 2, wherein the retentionmechanism further includes a second biasing member interposed betweenthe button and the housing assembly such that the button is biased intoone of the first or second positions.
 5. The instrument drive assemblyof claim 1, wherein the coupling assembly includes a drive linkpivotably coupled to the housing assembly and a drive screw of the driveassembly.
 6. The instrument drive assembly of claim 5, wherein proximaland distal translation of the drive screw with respect to the housingassembly pivots the drive link between a locked position and an unlockedposition.
 7. The instrument drive assembly of claim 6, wherein the drivelink defines a receiving region thereon, the receiving region including:a cavity defined therein, the cavity configured to receive a proximalportion of an instrument drive shaft of the surgical instrument therein;a port extending into the cavity, the port configured to receive aproximal portion of an instrument drive shaft of the surgical instrumenttherethrough; and a channel extending along the cavity, the channelconfigured to receive a portion of an instrument drive shaft of thesurgical instrument distal of a proximal portion of an instrument driveshaft of the surgical instrument therein, wherein the receiving regionof the drive link is configured to releasably couple a proximal portionof an instrument drive shaft of the surgical instrument to the drivelink.
 8. The instrument drive assembly of claim 7, in the unlockedposition of the drive link, the drive screw of the drive assembly is ina distal most position and the drive linked is angled an amountsufficient such that the port of the receiving region of the drive linkis oriented to fully receive the proximal portion of an instrument driveshaft, and wherein in the locked position of the drive link the drivescrew of the drive assembly is in a position proximal of the distal mostposition and the port of the receiving region defines an angle withrespect to the longitudinal axis of the coupling tube.
 9. The instrumentdrive assembly of claim 8, wherein in the locked position of the drivelink, the cavity of the receiving region is configured to retain aproximal portion of an instrument drive shaft of the surgical instrumentand the channel of the receiving region is configured to receive aportion of an instrument drive shaft of the surgical instrument distalof a proximal portion of an instrument drive shaft of the surgicalinstrument.
 10. The instrument drive assembly of claim 1, wherein thedrive assembly includes an engagement assembly having: a coupling rodincluding a proximal portion, a distal portion, and a longitudinal axisdefined through a radial center thereof; a proximal gear disposed at theproximal portion of the coupling rod and rotationally fixed thereto; anda distal gear disposed at the distal portion of the coupling rod androtationally fixed thereto.
 11. The instrument drive assembly of claim10, wherein the drive assembly further includes a transfer assemblyhaving: a central gear configured to mesh with the distal gear of theengagement assembly; and a stem extending distally from the central gearand defining a recess therein.
 12. The instrument drive assembly ofclaim 11, wherein the drive assembly further includes at least twoengagement assemblies, a distal gear of each engagement assemblyenmeshed with the central gear of the transfer assembly.
 13. Theinstrument drive assembly of claim 11, wherein the drive assemblyfurther includes: a coupler defining a threaded aperture, the couplerrotationally affixed within the recess of the stem; and a drive screwincluding a threaded portion and a coupling feature, the threadedportion configured to engage the threated aperture of the coupler andthe coupling feature configured to engage the coupling assembly, whereinrotation of the proximal gear of the engagement assembly drives rotationof the central gear of the transfer assembly and linear translation ofthe drive screw with respect to the housing assembly.